LQG Control of a High Redundancy Actuator

X. Du, R. Dixon, R. M. Goodall, A. C. Zolotas

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

13 Citations (Scopus)

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.

Original languageEnglish
Title of host publication2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
PublisherIEEE
Number of pages6
ISBN (Electronic)9781424412648
ISBN (Print)1424412641, 9781424412631
DOIs
Publication statusPublished - 26 Dec 2007
Externally publishedYes
Event2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - ETH Zürich, Zürich, Switzerland
Duration: 4 Sep 20077 Sep 2007
http://aim2007.ethz.ch/
https://publons.com/journal/262865/2007-ieeeasme-international-conference-on-advanced

Conference

Conference2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Abbreviated titleAIM
CountrySwitzerland
CityZürich
Period4/09/077/09/07
Internet address

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