Adaptive Control of a High Redundancy Actuator Using The Geometric Approach

Thomas Steffen, Argyrios Zolotas, Roger Dixon, Roger Goodall

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 publicationProceedings of the 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes
EditorsT. Escobet
PublisherElsevier
Pages1581-1586
Number of pages6
Volume42
Edition8
ISBN (Print)9783902661463
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems - Barcelona, Spain
Duration: 30 Jun 20093 Jul 2009
Conference number: 7

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
PublisherElsevier
Number8
Volume42
ISSN (Print)1474-6670

Conference

Conference7th IFAC International Symposium on Fault Detection, Supervision and Safety of Technical Systems
Abbreviated titleSAFEPROCESS'09
CountrySpain
CityBarcelona
Period30/06/093/07/09

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  • Cite this

    Steffen, T., Zolotas, A., Dixon, R., & Goodall, R. (2009). Adaptive Control of a High Redundancy Actuator Using The Geometric Approach. In T. Escobet (Ed.), Proceedings of the 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes (8 ed., Vol. 42, pp. 1581-1586). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 42, No. 8). Elsevier. https://doi.org/10.3182/20090630-4-ES-2003.00258