DAVIES, J. .. et al, 2008. Multi-agent control of a 10x10 High Redundancy Actuator. IN: Burnham, K.J. & Linden, J.G. (eds.). Proceedings of the 23rd IAR Workshop on Advanced Control and Diagnosis, 27-28 November 2008, Control Theory and Applications Centre, Coventry University, UK
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 a multiple-model control scheme for a
10x10 HRA applied through the framework of multi-agent control.