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Multi-agent control of high redundancy actuation

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journal contribution
posted on 06.05.2015, 13:15 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.

Funding

This work was supported by UK’s Engineering and Physical Sciences Research Council (EPSRC) (No. EP/D078350/1).

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Published in

International Journal of Automation and Computing

Volume

1

Pages

1 - ?

Citation

DAVIES, J. ... et al., 2015. Multi-agent control of high redundancy actuation. International Journal of Automation and Computing, 11(1), pp. 1-9.

Publisher

© Springer

Version

AM (Accepted Manuscript)

Publisher statement

This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/

Publication date

2015

Notes

The final publication is available at Springer via http://dx.doi.org/10.1007/s11633-014-0759-8

ISSN

1476-8186

Language

en