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Multi-agent control of high redundancy actuation

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Multi-agent control of high redundancy actuation. / Davies, Jessica; Dixon, Roger; Goodall, Roger M. et al.
In: International Journal of Automation and Computing, Vol. 11, No. 1, 01.02.2014, p. 1-9.

Research output: Contribution to Journal/Magazine › Journal article › peer-review

Harvard

Davies, J, Dixon, R, Goodall, RM & Steffen, T 2014, 'Multi-agent control of high redundancy actuation', International Journal of Automation and Computing, vol. 11, no. 1, pp. 1-9. https://doi.org/10.1007/s11633-014-0759-8

APA

Davies, J., Dixon, R., Goodall, R. M., & Steffen, T. (2014). Multi-agent control of high redundancy actuation. International Journal of Automation and Computing, 11(1), 1-9. https://doi.org/10.1007/s11633-014-0759-8

Vancouver

Davies J, Dixon R, Goodall RM, Steffen T. Multi-agent control of high redundancy actuation. International Journal of Automation and Computing. 2014 Feb 1;11(1):1-9. doi: 10.1007/s11633-014-0759-8

Author

Davies, Jessica ; Dixon, Roger ; Goodall, Roger M. et al. / Multi-agent control of high redundancy actuation. In: International Journal of Automation and Computing. 2014 ; Vol. 11, No. 1. pp. 1-9.

Bibtex

@article{30294f3db97d4559b1e64aaf11c109f4,
title = "Multi-agent control of high redundancy actuation",
abstract = "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.",
keywords = "Fault tolerance , actuators, intelligent control , redundancy , intelligent actuators , cooperative systems",
author = "Jessica Davies and Roger Dixon and Goodall, {Roger M.} and Thomas Steffen",
year = "2014",
month = feb,
day = "1",
doi = "10.1007/s11633-014-0759-8",
language = "English",
volume = "11",
pages = "1--9",
journal = "International Journal of Automation and Computing",
issn = "1751-8520",
publisher = "Chinese Academy of Sciences",
number = "1",

}

RIS

TY - JOUR

T1 - Multi-agent control of high redundancy actuation

AU - Davies, Jessica

AU - Dixon, Roger

AU - Goodall, Roger M.

AU - Steffen, Thomas

PY - 2014/2/1

Y1 - 2014/2/1

N2 - 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.

AB - 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.

KW - Fault tolerance

KW - actuators

KW - intelligent control

KW - redundancy

KW - intelligent actuators

KW - cooperative systems

U2 - 10.1007/s11633-014-0759-8

DO - 10.1007/s11633-014-0759-8

M3 - Journal article

VL - 11

SP - 1

EP - 9

JO - International Journal of Automation and Computing

JF - International Journal of Automation and Computing

SN - 1751-8520

IS - 1

ER -