Multi-agent control of high redundancy actuation
journal contributionposted on 2015-05-06, 13:15 authored by Jessica Davies, Roger Dixon, Roger Goodall, Thomas Steffen
The high redundancy actuator (HRA) concept is a novel approach to fault tolerant actuation that uses a high number of small actuation elements, assembled in series and parallel in order to form a single actuator which has intrinsic fault tolerance. Whilst this structure affords resilience under passive control methods alone, active control approaches are likely to provide higher levels of performance. A multiple-model control scheme for an HRA applied through the framework of multi-agent control is presented here. The application of this approach to a 10 × 10 HRA is discussed and consideration of reconfiguration delays and fault detection errors are made. The example shows that multi-agent control can provide tangible performance improvements and increase fault tolerance in comparison to a passive fault tolerant approach. Reconfiguration delays are shown to be tolerable, and a strategy for handling false fault detections is detailed.
This work was supported by UK’s Engineering and Physical Sciences Research Council (EPSRC) (No. EP/D078350/1).
- Mechanical, Electrical and Manufacturing Engineering