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Multi-variable control of a high redundancy actuator

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posted on 15.09.2008, 13:41 by Thomas Steffen, Roger Dixon, Roger M. Goodall, Argyrios C. Zolotas
The High Redundancy Actuator project deals with the construction of an actuator from many redundant actuation elements. Whilst this promises a high degree of fault tolerance, the high number of components also poses a unique challenge from a control perspective. This paper shows how the state space model of a stack of actuation elements in series can be separated into a high dimensional internal and a low dimensional external subspace. Once the internal states are decoupled and damped, the behaviour is dominated by the few states of the external subspace. This means that the high redundancy actuator with many redundant elements behaves just like a conventional single actuator.

History

School

  • Mechanical, Electrical and Manufacturing Engineering

Citation

STEFFEN, T. ... et al, 2008. Multi-variable control of a high redundancy actuator. IN: Borgmann, H. (ed.). ACTUATOR 2008 : 11th International Conference on New Actuators & 5th International Exhibition on Smart Actuators and Drive Systems : conference proceedings. Bremen Convention Centre, 9-11 June. Bremen, Germany : HVG Hanseatische Veranstaltungs-GmbH Division Messe Bremen

Publisher

© HVG Hanseatische Veranstaltungs-GmbH Division Messe Bremen

Publication date

2008

Notes

This is a conference paper.

ISBN

3933339103;9783933339102

Language

en

Exports

Loughborough Publications

Exports