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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/17427

Title: Multi-agent control of high redundancy actuation
Authors: Davies, Jessica
Dixon, Roger
Goodall, Roger M.
Steffen, Thomas
Keywords: Cooperative systems
Intelligent actuators
Redundancy
Intelligent control
Fault tolerance actuators
Issue Date: 2015
Publisher: © Springer
Citation: DAVIES, J. ... et al., 2015. Multi-agent control of high redundancy actuation. International Journal of Automation and Computing, 11(1), pp. 1-9.
Abstract: The 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.
Description: The final publication is available at Springer via http://dx.doi.org/10.1007/s11633-014-0759-8
Sponsor: This work was supported by UK’s Engineering and Physical Sciences Research Council (EPSRC) (No. EP/D078350/1).
Version: Accepted for publication
DOI: 10.1007/s11633-014-0759-8
URI: https://dspace.lboro.ac.uk/2134/17427
Publisher Link: http://dx.doi.org/10.1007/s11633-014-0759-8
ISSN: 1476-8186
Appears in Collections:Published Articles (Mechanical, Electrical and Manufacturing Engineering)

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