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Multi-agent control of high redundancy actuation.

Authors :
Davies, Jessica
Dixon, Roger
Goodall, Roger
Steffen, Thomas
Source :
International Journal of Automation & Computing; Feb2014, Vol. 11 Issue 1, p1-9, 9p
Publication Year :
2014

Abstract

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. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
14768186
Volume :
11
Issue :
1
Database :
Complementary Index
Journal :
International Journal of Automation & Computing
Publication Type :
Academic Journal
Accession number :
94231707
Full Text :
https://doi.org/10.1007/s11633-014-0759-8