Active versus passive fault tolerant control of a High Redundancy Actuator

Jessica Davies, Thomas Steffen, Roger Dixon, Roger Goodall, Argyrios Zolotas

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Citations (Scopus)


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 languageEnglish
Title of host publication2009 European Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9783952417393
Publication statusPublished - 2009
Externally publishedYes
Event10th European Control Conference - Budapest, Hungary
Duration: 23 Aug 200926 Aug 2009
Conference number: 10


Conference10th European Control Conference
Abbreviated titleECC 2009


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