Concept

Robust control

Related publications (195)

A Robust Data-Driven Controller Design Methodology With Applications to Particle Accelerator Power Converters

Alireza Karimi, Achille Nicoletti, Michele Martino

A new data-driven approach using the frequency response function (FRF) of a system is proposed for designing robust-fixed structure digital controllers for particle accelerators' power converters. This design method ensures that the dynamics of a system ar ...

2019

Progress in disruption prevention for ITER

Olivier Sauter, Alessandro Pau, Umar Sheikh, Mengdi Kong, Francesca Maria Poli, Ji Hyun Kim

Key plasma physics and real-time control elements needed for robustly stable operation of high fusion power discharges in ITER have been demonstrated in recent research worldwide. Recent analysis has identified the current density profile as the main drive ...

2019

Design of Magnetic Bearing Control System Based on Active Disturbance Rejection Theory

Yuanping Xu

At present, most of the magnetic bearing system adopts the classical proportional-integral-derivative (PID) control strategy. However, the external disturbances, system parameter perturbations, and many other uncertain disturbances result in PID controller ...

2019

MATHICSE Technical Report : Low-rank updates and divide-andconquer methods for quadratic matrix equations

Daniel Kressner, Stefano Massei

In this work, we consider two types of large-scale quadratic matrix equations: Continuous-time algebraic Riccati equations, which play a central role in optimal and robust control, and unilateral quadratic matrix equations, which arise from stochastic proc ...

MATHICSE2019

Two-degrees-of-freedom (PID)-D-2 controller for precise nanopositioning in the presence of hardware-induced constant time delay

Andres San Millan Rodriguez

The fast and accurate tracking of periodic and arbitrary reference trajectories is the principal goal in many nanopositioning applications. Flexure-based piezoelectric stack driven nanopositioners are widely employed in applications where accurate mechanic ...

ELSEVIER SCIENCE INC2019

Frequency-Aware Model Predictive Control

Marco Hutter, Farbod Farshidian

Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion infeasible on th ...

2019

A New Time-Varying Feedback RISE Control of PKMs: Theory and Application

Mohamed Bouri

In this paper, we propose a novel time-varying feedback control strategy based on the Robust Integral of the Sign of the Error (RISE). The main motivation is to enhance the tracking performance of RISE controller at high dynamic operating conditions. RISE ...

IEEE2019

A Variable Structure Control Scheme Proposal for the Tokamak a Configuration Variable

Olivier Sauter, Ambrogio Fasoli, Basil Duval, Stefano Coda, Timothy Goodman, Jonathan Graves, Yves Martin, Jean-Marc Moret, Ivo Furno, Duccio Testa, Minh Quang Tran, Paolo Ricci, Patrick Blanchard, Holger Reimerdes, Benoît Labit, Jean-Philippe Hogge, Christian Gabriel Theiler, Alessandro Pau, Federico Alberto Alfredo Felici, Laurie Porte, Alexander Karpushov, Antoine Pierre Emmanuel Alexis Merle, Joan Decker, Xavier Llobet, Umar Sheikh, Cristian Galperti, Christian Schlatter, Yanis Andrebe, Rémy Jacquier, Mengdi Kong, Francesco Carpanese, Henri Weisen, Yann Camenen, Jan Horacek, Marco Wischmeier, Nicola Vianello, Federico Nespoli, Fabio Riva, Cedric Kar-Wai Tsui, Kevin Henricus Annemarie Verhaegh, Wouter Vijvers, Anna Teplukhina, Roberto Maurizio, Zhouji Huang, Francesco Sciortino, Claudio Marini, Hoang Bao Le, Oulfa Chellaï, Himank Anand, Josef Kamleitner, Joyeeta Sinha, Bernhard Sieglin, Gergely Papp

Fusion power is the most significant prospects in the long-term future of energy in the sense that it composes a potentially clean, cheap, and unlimited power source that would substitute the widespread traditional nonrenewable energies, reducing the geogr ...

2019

A data-driven approach to model-reference control with applications to particle accelerator power converters

Alireza Karimi, Achille Nicoletti, Michele Martino

A new model-reference data-driven approach is presented which uses the frequency response data of a system in order to avoid the problem of unmodeled dynamics associated with low-order parametric models. It is shown that a convex optimization problem can b ...

PERGAMON-ELSEVIER SCIENCE LTD2019

Single chamber multiple degree-of-freedom soft pneumatic actuator enabled by adjustable stiffness layers

Jamie Paik, Marco Salerno, Junius Santoso

Soft pneumatic actuators promise simple, adaptable, and safe manipulation, but the nature of pneumatic circuits limits the scalability of this approach. This paper introduces a method to augment the degrees-of-freedom of soft pneumatic actuators without in ...

2019

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