Adaptive control of a High Redundancy Actuator using the geometric approach

Thomas Steffen; Argyrios Zolotas; Roger Dixon; Roger Goodall

doi:10.3182/20090630-4-ES-2003.0021

Adaptive control of a High Redundancy Actuator using the geometric approach

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

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	SAFEPROCESS'09 - 7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, Proceedings
Pages	1581-1586
Number of pages	6
DOIs	https://doi.org/10.3182/20090630-4-ES-2003.0021
Publication status	Published - 1 Dec 2009
Event	7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, SAFEPROCESS'09 - Barcelona, Spain Duration: 30 Jun 2009 → 3 Jul 2009

Conference

Conference	7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, SAFEPROCESS'09
Country/Territory	Spain
City	Barcelona
Period	30/06/09 → 3/07/09

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

Access to Document

10.3182/20090630-4-ES-2003.0021

Cite this

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title = "Adaptive control of a High Redundancy Actuator using the geometric approach",

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.",

keywords = "Active fault tolerance, Adaptive control, Fault accommodation, Fault-tolerant control, Geometric approach, Health monitoring, High Redundancy Actuator, Parameter estimation",

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Steffen, T, Zolotas, A, Dixon, R & Goodall, R 2009, Adaptive control of a High Redundancy Actuator using the geometric approach. in SAFEPROCESS'09 - 7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, Proceedings. pp. 1581-1586, 7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, SAFEPROCESS'09, Barcelona, Spain, 30/06/09. https://doi.org/10.3182/20090630-4-ES-2003.0021

Adaptive control of a High Redundancy Actuator using the geometric approach. / Steffen, Thomas; Zolotas, Argyrios; Dixon, Roger et al.

SAFEPROCESS'09 - 7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems, Proceedings. 2009. p. 1581-1586.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Adaptive control of a High Redundancy Actuator using the geometric approach

Abstract

Conference

Keywords

ASJC Scopus subject areas

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