Validation of a Two by Two High Redundancy Actuator-Experimental Results

The High Redundancy Actuator (HRA) considered comprises a relatively large number of actuation elements so that faults in individual elements are inherently accommodated. Modelling and simulation results have been reported by the authors in previous papers. In this paper, experimental results, obtained on a two-by-two HRA demonstrator, will be presented. A classical controller design is considered and tested on the demonstrator under healthy conditions and with faults injected. The results show that the actuator will continue to work even when a single element is faulty, with only a small performance degradation.