Multi-agent control of a 10x10 High Redundancy Actuator
conference contributionposted on 23.07.2009 by Jessica Davies, Thomas Steffen, Roger Dixon, Roger Goodall
Any type of content contributed to an academic conference, such as papers, presentations, lectures or proceedings.
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.
- Mechanical, Electrical and Manufacturing Engineering