High redundancy actuator Fault-tolerant control Passive fault tolerance Fault accommodation Robust control Genetic algorithm Controller optimisation
IFAC (International Federation of Automatic Control)
STEFFEN, T. ... et al, 2009. Designing a robust controller for a high redundancy actuator using genetic algorithms. 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes. SafeProcess 2009, Barcelona, Spain, 30 June-3 July 2009.
The High Redundancy Actuator (HRA) project deals with the construction of
an actuator using many redundant actuation elements. If one element fails, this changes the
behaviour slightly, but the system still remains operation. A key challenge in this project is
to design a passive fault tolerant controller that maintains the required performance in the
presence of faults. This paper shows how to achieve this with structurally simple controllers, by
optimising the parameters using a genetic algorithm.