MACHRA_IJAC_Final_Version.pdf (841.85 kB)
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
Published inInternational Journal of Automation and Computing
Pages1 - ?
CitationDAVIES, J. ... et al., 2015. Multi-agent control of high redundancy actuation. International Journal of Automation and Computing, 11(1), pp. 1-9.
- AM (Accepted Manuscript)
Publisher statementThis 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/
NotesThe final publication is available at Springer via http://dx.doi.org/10.1007/s11633-014-0759-8