Multi-agent control of a 10x10 High Redundancy Actuator

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Davies, Jessica ; Steffen, T. ; Dixon, R. ; Goodall, Roger M. (2008)
  • Publisher: IAR
  • Subject: TF

The High Redundancy Actuator (HRA) project investigates the use of a relatively high number of small actuation elements, assembled in series and parallel in order to form a single actuator which has intrinsic fault tolerance. Both passive and active methods of control are planned for use with the HRA. This paper presents a multiple-model control scheme for a 10x10 HRA applied through the framework of multi-agent control.
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