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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/3619

Title: Robust control of a high redundancy actuator
Authors: Steffen, Thomas
Dixon, Roger
Goodall, Roger M.
Zolotas, Argyrios C.
Keywords: High redundancy actuator
Fault-tolerant control
Fault accommodation
Robust control
Parameter uncertainties
Issue Date: 2008
Publisher: © Steffen, Dixon, Goodall and Zolotas
Citation: STEFFEN, T. ... et al, 2008. Robust control of a high redundancy actuator. UKACC Control Conference, Manchester, 2-4 September
Abstract: The High Redundancy Actuator project deals with the construction of an actuator using many redundant actuation elements. Whilst this promises a high degree of fault tolerance, the high number of components poses a unique challenge from a control perspective. This paper shows how a simple robust controller can be used to control the system both in nominal state and after faults. To simplify the design task, the parameters of the system are tuned so that a number of internal states are decoupled from the input signal. If the decoupling is not exact, there may be small deviation from the nominal transfer function, especially when a fault has occurred. The robustness analysis ensures that the system performs well for all expected behaviour variations.
Description: This is a conference paper.
URI: https://dspace.lboro.ac.uk/2134/3619
Appears in Collections:Conference Papers and Presentations (Mechanical, Electrical and Manufacturing Engineering)

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