Failure Modes and Probabilities of a High Redundancy Actuator

Failure Modes and Probabilities of a High Redundancy Actuator

A high redundancy actuator (HRA) is composed of a high number of actuation elements, increasing both the travel and the force over the power of an individual element. This provides inherent fault tolerance, because when an element fails, the capabilities of the actuator may be reduced, but it does not become dysfunctional. This paper analyses the likelihood of different reductions in capabiliti...

Robust Control of a High Redundancy Actuator

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. This paper shows how a simple robust controller can be used to control the system both in nominal state and after faults. To simplify the ...

Modelling and Control of a High Redundancy Actuator

High Redundancy Actuator Research Project – Summary

Every technical system is subject to faults. In safety critical applications such as aircrafts or chemical factories, special measures need to be taken to address the possibility of faults. This is what fault tolerant control is about: analyse the effect of faults, and prevent them from causing trouble (see [1] for a more detailed overview). This project proposel a novel idea for fault tolerant...

Optimal Passive Fault Tolerant Control of a High Redundancy Actuator

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