Robust control of Cassette Multi-functional Mover for ITER remote handling tasks

L. Zhai (Corresponding Author), J. Mattila, Hannu Saarinen, T. Virvalo

    Research output: Contribution to journalArticleScientificpeer-review

    1 Citation (Scopus)


    The Cassette Multi-functional Mover (CMM) is designed for performing safety-critical divertor cassettes movements in ITER. Therefore, special attention should be paid to the design and analysis of its feedback controllers. Firstly, the design of the multivariable tracking controller possesses many challenges. The hydraulic manipulator dynamics are highly nonlinear; moreover, the loaded mass spans a wide range. Secondly, a number of test runs (even a large number) do not necessarily reveal the controller sensitivity to all the system uncertainties. Thus, some theoretical tools are needed to assess the robustness of the controller. H-based approach is a reasonable choice since it provides a set of metrics to evaluate the controller robustness which can be validated in tests. In this paper, the dynamic model of CMM is first derived, characterizing the nominal system model and the model uncertainties. Then, a multivariable H loop-shaping controller is synthesized which ensures both the robust stability and robust performance. Finally, the designed controller is validated by simulation results.
    Original languageEnglish
    Pages (from-to)2008-2011
    Number of pages4
    JournalFusion Engineering and Design
    Issue number9-11
    Publication statusPublished - 2011
    MoE publication typeA1 Journal article-refereed
    Event26th Symposium of Fusion Technology, SOFT-26 - Porto, Portugal
    Duration: 27 Sept 20101 Oct 2010
    Conference number: 26


    • Water hydraulic manipulator
    • Robust control
    • Remote handling
    • ITER


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