Multi-agent control of a 10x10 High Redundancy Actuator
conference contributionposted on 23.07.2009, 10:20 by Jessica Davies, Thomas Steffen, Roger Dixon, Roger Goodall
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