This paper considers actuator redundancy management for a class of overactuated nonlinear systems. Two tools for distributing the control effort among a redundant set of actuators are optimal control design and control allocation. In this paper, we investigate the relationship between these two design tools when the performance indexes are quadratic in the control input. We show that for a part...

This research studied the optimal design of Shape Memory Alloy (SMA) muscle wire bundle actuators. Current literature describes the use of multiple muscle wires placed in parallel to increase the lifting capabilities of an SMA actuator, which however, is limited to wires of like-diameter. A constrained optimization problem was formulated, with constraints on the maximum number of wires, voltage...

In this paper the actuation system, often encountered high-precision motion systems, is studied. To find out the limitations of the actuation system, a integrated electromechanical model of the amplifier, actuator and mechanics is derived. This is done in a system’s theory-approach, so that amplifier feedback circuit design can be tuned using loop-shaping techniques. Stability analysis is carri...

Rough set optimization method was applied to design the worm gear in valve actuator. The superfluous constraints are reduced based on the methodology of rough set at the model of optimization that was established. The importance of each constraint condition and the coordination of the objective function can be got. Through example it can be seen that the optimal scheme made worm gear accord wit...

This paper presents a software-based approach to the problem of distributed actuator failure diagnosis under resource and deadline constraints in fly-by-wire systems using comparison of actuator behaviour and corresponding mathematical model. (2k+1) replicated control and diagnosis tasks are executed to tolerate k-faults in the control and diagnosis functions. The proposed method has been evalu...

A new approach to the design of Model Predictive Controller (MPC) that simultaneously addresses the actuator saturation and backlash is proposed in this paper. The discrete characteristics of the actuator backlash allows one to reformulate the input constraints as a set of mixed integer linear inequalities. As a result, the MPC is designed by solving a Mixed-integer Quadratic Programming proble...

This article proposes a fuzzy adaptive design solving the finite-time constrained tracking for hypersonic flight vehicles (HFVs). Actuator dynamics and asymmetric time-varying constraints are considered when this problem. The main features of proposed lie in 1) introducing novel piecewise but differentiable switching control law, with an appropriate thought to avoid singularity issues typical c...

LINKÖPING Technical reports from the Automatic Control group in Linkk oping are available as UNIX-compressed Postscript les by anonymous ftp at the address ftp.control.isy.liu.se. Abstract. The computation of possible stationary orientations of an aircraft subjected to constraints on actuators is treated using methods from computer algebra. The same techniques are also used to investigate possi...

We address the problem of motion planning for nonholonomic cooperating mobile robots manipulating and transporting objects while holding them in a stable grasp. We present a general approach based on the calculus of variations that allows us to obtain optimal trajectories and actuator forces/torques for any maneuver in the presence of obstacles. In addition, geometric constraints such as joint ...

A fault tolerant control system design technique has been proposed and analyzed for managing performance degradation in the presence of multiple faults in actuators. The method is based on a control structure with a model reference reconfigurable control design in an inner loop and command input adjustment in an outer loop. The reduced dynamic performance requirements in the presence of differe...