Abstract
The High Redundancy Actuator (HRA project investigates the use of large numbers of small actuation elements to achieve fault tolerance. The large number of components involved poses a unique challenge from a control perspective. This paper presents the two main options to control the HRA: using robust control (passive fault tolerance), and reconfigurable control (active fault tolerance). The robust controller is designed using H∞ methods, and handles the different system behaviours of the HRA with only small changes to the closed-loop system. In contrast, control reconfiguration detects the fault and changes the control laws accordingly. Multi-Agent System (MAS) concepts are used to apply localised multiple-model control and fault detection on an individual element level. The results of both approaches are compared to illustrate the trade-off between the complexity of the control approach and the resulting performance under different fault situations.
| Original language | English |
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| Title of host publication | 2009 European Control Conference, ECC 2009 |
| Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| Pages | 3671-3676 |
| Number of pages | 6 |
| ISBN (Electronic) | 9783952417393 |
| Publication status | Published - 26 Mar 2014 |
| Event | 2009 10th European Control Conference, ECC 2009 - Budapest, Hungary Duration: 23 Aug 2009 → 26 Aug 2009 |
Conference
| Conference | 2009 10th European Control Conference, ECC 2009 |
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| Country/Territory | Hungary |
| City | Budapest |
| Period | 23/08/09 → 26/08/09 |
Keywords
- active fault tolerance
- control reconfiguration
- fault accommodation
- fault-tolerant control
- high redundancy actuator
- multi-agent systems
- passive fault tolerance
- robust control
ASJC Scopus subject areas
- Control and Systems Engineering