DAVIES, J. ... et al, 2008. Multi-agent control of high redundancy actuation. UKACC Control Conference, Manchester, 2-4 September
The High Redundancy Actuator (HRA) project investigates the use of a relatively
high number of small actuation elements, assembled in series and parallel in order to form a
single actuator which has intrinsic fault tolerance. Both passive and active methods of control
are planned for use with the HRA. This paper presents progress towards a multiple model
control scheme for the HRA applied through the framework of multi-agent control.