Skip to main content
Article thumbnail
Location of Repository

Modelling and control of a high redundancy actuator

By X Du, R Dixon, R M Goodall and A C Zolotas


The high redundancy actuation concept is a completely new approach to fault tolerance, and it is important to appreciate that it provides a transformation of the characteristics of actuators so that the actuation performance (capability) degrades slowly rather than suddenly failing, even though individual elements themselves fail. This paper aims to demonstrate the viability of the concept by showing that a highly redundant actuator, comprising a relatively large number of actuation elements, can be controlled in such a way that faults in individual elements are inherently accommodated, although some degradation in overall performance will inevitably be found. The paper introduces the notion of fault-tolerant systems and the highly redundant actuator concept. Then a model for a two by two configuration with electro-mechanical actuation elements is derived. Two classical control approaches are then considered based on frequency domain techniques. Finally simulation results under a number of faults show the viability of the approach for fault accommodation without re-configuratio

Topics: T, TA0174, TJ0212
Publisher: Elsevier
Year: 2010
OAI identifier:

Suggested articles


  1. (1995). A family of Fault Tolerant Systems: Electrical flight controls from Airbus A320/A330/A340 to future military transport aircraft. doi
  2. (2004). Active fault tolerant control with actuation reconfiguration. doi
  3. (1996). Active suspension applied to railway train,
  4. (1998). Actuation systems development. doi
  5. (2000). Actuator fault-tolerant control design: demonstration on a three-tank-system. doi
  6. (2001). Adaptive state feedback and tracking control of systems with actuator failures. doi
  7. (1991). Applied nonlinear control.
  8. (2006). Control reconfiguration after actuator failures using disturbance decoupling methods. doi
  9. (2003). Fault tolerant control system design with explicit consideration of performance degradation. doi
  10. (1997). Fault Tolerant Control: The doi
  11. (2005). Fault-tolerant control against stuck actuator faults. doi
  12. (2002). Fault-tolerant drive-by-wire systems. doi
  13. (2001). Integrated sensor/actuator FDI and reconfigurabl3 control for fault-tolerant flight control system design,
  14. (2006). Modelling and control of a highly redundant actuator, International Control Conference 2006, Glasgow, U.K.Authors’version Cite as:
  15. (2003). On the frequency bandwidth change of a servo system with a gear reducer due to backlash and motor input voltage. doi
  16. (1984). Process fault detection based on modelling and estimation methods – A survey. doi
  17. Zolotas (2006). Assessment of strategies for control of high redundancy actuators, doi

To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.