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.