2134/12795
Thomas Steffen
Thomas
Steffen
Konstantinos Michail
Konstantinos
Michail
Roger Dixon
Roger
Dixon
Roger Goodall
Roger
Goodall
Argyrios C. Zolotas
Argyrios C.
Zolotas
Designing a robust controller for a high redundancy actuator using genetic algorithms
Loughborough University
2013
High redundancy actuator
Fault-tolerant control
Passive fault tolerance
Fault accommodation
Robust control
Genetic algorithm
Controller optimisation
Mechanical Engineering not elsewhere classified
2013-07-23 11:12:28
Conference contribution
https://repository.lboro.ac.uk/articles/conference_contribution/Designing_a_robust_controller_for_a_high_redundancy_actuator_using_genetic_algorithms/9556922
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.