scholarly journals A Robust Control Strategy of Redundant Manipulator by Workspace Observer.

1995 ◽  
Vol 115 (8) ◽  
pp. 991-998 ◽  
Author(s):  
Naoki Oda ◽  
Toshiyuki Murakami ◽  
Kouhei Ohnishi
Keyword(s):  
Robust Control ◽  
Control Strategy ◽  
Redundant Manipulator

Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator

2004 ◽  
Vol 126 (4) ◽  
pp. 905-910 ◽  
Author(s):  
Qing-Chang Zhong ◽  
David Rees
Keyword(s):  
Time Delay ◽  
Robust Control ◽  
Robust Stability ◽  
Control Strategy ◽  
Time Delay Control ◽  
Delay Control ◽  
Uncertainty And Disturbance Estimator ◽  
Derivatives Of ◽  
Siso Systems ◽  
Disturbance Estimator

This paper proposes a robust control strategy for uncertain LTI systems. The strategy is based on an uncertainty and disturbance estimator (UDE). It brings similar performance as the time-delay control (TDC). The advantages over TDC are: (i) no delay is introduced into the system; (ii) there are no oscillations in the control signal; and (iii) there is no need of measuring the derivatives of the state vector. The robust stability of LTI-SISO systems is analyzed, and simulations are given to show the effectiveness of the UDE-based control with a comparison made with TDC.

Magnetic island suppression by electron cyclotron current drive as converse of a forced reconnection problem

2018 ◽  
Vol 84 (3) ◽  
Author(s):  
D. Grasso ◽  
D. Borgogno ◽  
L. Comisso ◽  
E. Lazzaro
Keyword(s):  
Robust Control ◽  
Control Strategy ◽  
Electron Cyclotron ◽  
Current Drive ◽  
Magnetic Islands ◽  
Tearing Mode ◽  
Magnetic Island ◽  
Technical Approach ◽  
Physical Conditions ◽  
Secondary Instabilities

This paper addresses one aspect of the problem of the suppression of tearing mode magnetic islands by electron cyclotron current drive (ECCD) injection, formulating the problem as the converse of a forced reconnection problem. New physical conditions are discussed which should be considered in the technical approach towards a robust control strategy. Limits on the ECCD deposition are determined to avoid driving the system into regimes where secondary instabilities develop. Numerical simulations confirming the theory are also presented.

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