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