posted on 2009-03-06, 14:41authored byXinli Du, Roger Dixon, Roger Goodall, Argyrios C. Zolotas
A high redundancy actuator, comprising a relatively
large number of actuation elements, is being developed for
safety critical applications. Some classical control results have
previously been reported and this paper will focus on evaluation
of the LQG control design. Three different design approaches
will be presented and compared under different types of typical
faults in the sub-actuation elements. Overall a LQG design
using a physically motivated reduced order model appears to be the best approach.
History
School
Mechanical, Electrical and Manufacturing Engineering
Citation
DU, X. ... et al, 2007. LQG control of a high redundancy actuator. IN: 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 4-7th September 2007, pp. 1-6