Adaptive control of a High Redundancy Actuator using the geometric approach

Thomas Steffen*, Argyrios Zolotas, Roger Dixon, Roger Goodall

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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, especially when actuation elements are used in series. This paper describes how an adaptive control scheme can be used to deal with faults in a High Redundancy Actuator. This is based on previous results leading to a simplified model of the HRA with serial elements. In case of the fault, the parameters change, but the otherwise the deviation from the simplified model is minimal. This approach has two benefits. For one, it can restore the original system dynamics even after a fault has occurred. The parameter estimate can also be used for health monitoring purposes, because it reflects the number of effective faults in the HRA.

Original languageEnglish
Title of host publicationSAFEPROCESS'09 - 7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, Proceedings
Pages1581-1586
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2009
Event7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, SAFEPROCESS'09 - Barcelona, Spain
Duration: 30 Jun 20093 Jul 2009

Conference

Conference7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, SAFEPROCESS'09
Country/TerritorySpain
CityBarcelona
Period30/06/093/07/09

Keywords

  • Active fault tolerance
  • Adaptive control
  • Fault accommodation
  • Fault-tolerant control
  • Geometric approach
  • Health monitoring
  • High Redundancy Actuator
  • Parameter estimation

ASJC Scopus subject areas

  • Control and Systems Engineering

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