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Designing a robust controller for a high redundancy actuator using genetic algorithms

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conference contribution
posted on 23.07.2013, 11:12 by Thomas Steffen, Konstantinos Michail, Roger Dixon, Roger Goodall, Argyrios C. Zolotas
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.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Citation

STEFFEN, T. ... et al, 2009. Designing a robust controller for a high redundancy actuator using genetic algorithms. 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes. SafeProcess 2009, Barcelona, Spain, 30 June-3 July 2009.

Publisher

IFAC (International Federation of Automatic Control)

Version

AM (Accepted Manuscript)

Publication date

2009

Language

en

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