Steffen, T., Michail, Konstantinos, Dixon, R., Zolotas, Argyrios and Goodall, Roger M. (2009) Optimal Passive Fault Tolerant Control of a High Redundancy Actuator. In: 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, 30th June - 3rd July 2009, Barcelona, Spain.

The High Redundancy Actuator (HRA) project deals with the construction of an actuator using many redundant actuation elements. If one element fails, this changes the behaviour slightly, but the system still remains operation. A key challenge in this project is to design a passive fault tolerant controller that maintains the required performance in the presence of faults. This paper shows how to achieve this with structurally simple controllers, by optimising the parameters using a genetic algorithm.

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