Multi-agent Control of High Redundancy Actuation
نویسندگان
چکیده
منابع مشابه
Multi-Agent Control of High Redundancy Actuation
The High Redundancy Actuator (HRA) project investigates the use of a relatively high number of small actuation elements, assembled in series and parallel in order to form a single actuator which has intrinsic fault tolerance. Both passive and active methods of control are planned for use with the HRA. This paper presents progress towards a multiple model control scheme for the HRA applied throu...
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This paper presents an overview of recent research into a new method of providing fault tolerant actuators for high-integrity and safety-critical applications. The High Redundancy Actuator (HRA) uses a large number of small actuation elements to make up a single actuator. It provides superior reliability and efficiency over current technology, by configuring and controlling the elements so that...
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This paper presents the modelling of a moving coil actuator for use as an element in a High Redundancy Actuator (HRA). A single element model is derived from first principles and verified using experimental data. This model is subsequently used to describe an approach to deriving models of multi-element HRAs and determine the effect of a variety of faults, chosen to be appropriate for the elect...
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The increased utilization of manipulators in hazardous or hard-to-reach environments have led to a corresponding increase on the study of fault tolerant control methods for these mechanisms, ranging from robot design and trajectory planning to fault detection and isolation and post-failure control algorithms. In this article we focus on post-failure control of a mechanical manipulator from the ...
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ژورنال
عنوان ژورنال: International Journal of Automation and Computing
سال: 2014
ISSN: 1476-8186,1751-8520
DOI: 10.1007/s11633-014-0759-8