Title :
Invariant control of non-linear elements in a stacked High Redundancy Actuator
Author :
Steffen, T. ; Dixon, R. ; Goodall, R.
Author_Institution :
Dept. of Aeronaut. & Automotive Eng., Loughborough Univ., Loughborough, UK
Abstract :
The High Redundancy Actuator (HRA) concept aims to provide a single actuator comprising many cooperating actuation elements. The potential benefits of this include improved overall reliability, availability, and reduced need for oversizing of actuators in safety critical applications. This paper deals with the question of distributing the load evenly between a stack of elements despite non-linear characteristics.
Keywords :
actuators; nonlinear control systems; actuation elements; invariant control; nonlinear elements; safety critical applications; stacked high redundancy actuator; Actuators; Force; Mathematical model; Muscles; Redundancy; Springs; Tuning; electromagnetic actuation; fault tolerance; multi-variable control; non-linear control;
Conference_Titel :
Control (CONTROL), 2012 UKACC International Conference on
Conference_Location :
Cardiff
Print_ISBN :
978-1-4673-1559-3
Electronic_ISBN :
978-1-4673-1558-6
DOI :
10.1109/CONTROL.2012.6334599
