LQG Control of a High Redundancy Actuator

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

doi:10.1109/AIM.2007.4412598

LQG Control of a High Redundancy Actuator

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 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 language	English
Title of host publication	2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Publisher	IEEE
Number of pages	6
ISBN (Electronic)	9781424412648
ISBN (Print)	1424412641, 9781424412631
DOIs	https://doi.org/10.1109/AIM.2007.4412598
Publication status	Published - 26 Dec 2007
Externally published	Yes
Event	2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - ETH Zürich, Zürich, Switzerland Duration: 4 Sep 2007 → 7 Sep 2007 http://aim2007.ethz.ch/ https://publons.com/journal/262865/2007-ieeeasme-international-conference-on-advanced

Conference

Conference	2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Abbreviated title	AIM
Country/Territory	Switzerland
City	Zürich
Period	4/09/07 → 7/09/07
Internet address	http://aim2007.ethz.ch/ https://publons.com/journal/262865/2007-ieeeasme-international-conference-on-advanced

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Cite this

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title = "LQG Control of a High Redundancy Actuator",

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.",

keywords = "Fault tolerance, High redundancy, LQG control",

author = "X. Du and R. Dixon and Goodall, {R. M.} and Zolotas, {A. C.}",

year = "2007",

month = dec,

day = "26",

doi = "10.1109/AIM.2007.4412598",

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AU - Dixon, R.

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N2 - 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.

AB - 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.

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KW - LQG control

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Y2 - 4 September 2007 through 7 September 2007

ER -

LQG Control of a High Redundancy Actuator

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