LQG control of a high redundancy actuator

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

Authors

Colleges, School and Institutes

External organisations

  • Loughborough University

Abstract

A high redundancy actuator, comprising a relatively large number of actuation elements, is being developed for safety critical applications. Some classical control results have previously been reported and this paper will focus on evaluation of the LQG control design. Three different design approaches will be presented and compared under different types of typical faults in the sub-actuation elements. Overall a LQG design using a physically motivated reduced order model appears to be the best approach.

Details

Original languageEnglish
Title of host publication2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Publication statusPublished - 1 Dec 2007
Event2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM - Zurich, Switzerland
Duration: 4 Sep 20077 Sep 2007

Conference

Conference2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
CountrySwitzerland
CityZurich
Period4/09/077/09/07

Keywords

  • Fault tolerance, High redundancy, LQG control