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LQG control of a high redundancy actuator

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conference contribution
posted on 2009-03-06, 14:41 authored by Xinli Du, Roger Dixon, Roger Goodall, Argyrios C. Zolotas
A high redundancy actuator, comprising a relatively large number of actuation elements, is being developed for safety critical applications. Some classical control results have previously been reported and this paper will focus on evaluation of the LQG control design. Three different design approaches will be presented and compared under different types of typical faults in the sub-actuation elements. Overall a LQG design using a physically motivated reduced order model appears to be the best approach.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Citation

DU, X. ... et al, 2007. LQG control of a high redundancy actuator. IN: 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 4-7th September 2007, pp. 1-6

Publisher

© IEEE

Version

  • VoR (Version of Record)

Publication date

2007

Notes

This is a conference paper [© IEEE]. It is also available from: http://ieeexplore.ieee.org/xpl/RecentCon.jsp?punumber=4412397. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

ISBN

9781424412631

Language

  • en

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