A Hybrid-Type Variable-Structure Instantaneous Torque Control With a Robust Adaptive Torque Observer for a High-Performance Direct-Drive PMSM.
Yasser Abdel-Rady Ibrahim MohamedPublished in: IEEE Trans. Ind. Electron. (2007)
Keyphrases
- direct drive
- sliding mode
- variable structure
- control strategy
- robotic manipulator
- control scheme
- cnc machine tools
- control theory
- position control
- adaptive control
- control law
- control algorithm
- control system
- robot manipulators
- stability analysis
- induction motor
- sliding mode control
- control method
- visual servoing
- closed loop
- mathematical model
- optimal control
- end effector
- fuzzy control
- degrees of freedom
- reinforcement learning
- nonlinear systems
- dynamic model
- real time