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Multi-agent control of high redundancy actuation

By Jessica Davies, Roger Dixon, Roger M. Goodall and Thomas Steffen

Abstract

The final publication is available at Springer via http://dx.doi.org/10.1007/s11633-014-0759-8The high redundancy actuator (HRA) concept is a novel approach to fault tolerant actuation that uses a high number of small actuation elements, assembled in series and parallel in order to form a single actuator which has intrinsic fault tolerance. Whilst this structure affords resilience under passive control methods alone, active control approaches are likely to provide higher levels of performance. A multiple-model control scheme for an HRA applied through the framework of multi-agent control is presented here. The application of this approach to a 10 × 10 HRA is discussed and consideration of reconfiguration delays and fault detection errors are made. The example shows that multi-agent control can provide tangible performance improvements and increase fault tolerance in comparison to a passive fault tolerant approach. Reconfiguration delays are shown to be tolerable, and a strategy for handling false fault detections is detailed

Topics: Cooperative systems, Intelligent actuators, Redundancy, Intelligent control, Fault tolerance actuators
Publisher: © Springer
Year: 2015
DOI identifier: 10.1007/s11633-014-0759-8
OAI identifier: oai:dspace.lboro.ac.uk:2134/17427
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