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Download fileDesigning a robust controller for a high redundancy actuator using genetic algorithms
conference contribution
posted on 2013-07-23, 11:12 authored by Thomas SteffenThomas Steffen, Konstantinos Michail, Roger Dixon, Roger Goodall, Argyrios C. ZolotasThe 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.
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- Mechanical, Electrical and Manufacturing Engineering