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Robust control of a high redundancy actuator

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posted on 15.09.2008 by Thomas Steffen, Roger Dixon, Roger M. Goodall, Argyrios C. Zolotas
The High Redundancy Actuator project deals with the construction of an actuator using many redundant actuation elements. Whilst this promises a high degree of fault tolerance, the high number of components poses a unique challenge from a control perspective. This paper shows how a simple robust controller can be used to control the system both in nominal state and after faults. To simplify the design task, the parameters of the system are tuned so that a number of internal states are decoupled from the input signal. If the decoupling is not exact, there may be small deviation from the nominal transfer function, especially when a fault has occurred. The robustness analysis ensures that the system performs well for all expected behaviour variations.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Citation

STEFFEN, T. ... et al, 2008. Robust control of a high redundancy actuator. UKACC Control Conference, Manchester, 2-4 September

Publisher

© Steffen, Dixon, Goodall and Zolotas

Publication date

2008

Notes

This is a conference paper.

Language

en

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