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Multiphase induction motor drives have gained popularity due to their fault tolerance and better power/current distribution per phase which are very attractive for industrial applications. Current control strategies with the estimation of unmeasurable variables (typically rotor variables) has been recently proposed for multiphase induction drive. This paper proposes a novel current control based on...
In this paper, a new posture prediction method is proposed and evaluated on human leg, as being a physiologically constrained three-link arm. The main posture prediction solution is focused on optimizing the manipulability and the human performance of the leg. The forward kinematics is used to define the feasible workspace of the human leg in sagittal plane. Using an effective optimization-based human...
This paper proposes a non-singular terminal sliding mode combined with time delay controller for fast tracking trajectory of uncertain second-order nonlinear systems in presence of external disturbances. The motivation for using Non-Singular Terminal Sliding Mode (NSTSM) mainly relies on its appreciable features, such as simplicity of design and implementation, high precision and fast convergence...
This paper proposes a second order sliding mode combined with time delay controller to track a desired trajectory for robot manipulators with unknown dynamics and external disturbances. The motivation for using second order sliding mode (SOSM) mainly relies on its appreciable features, such as high precision and elimination of chattering in addition that it ensures robustness. However, the SOSM problem...
In this paper, the control problem of Multi-Input Multi-Output (MIMO) nonlinear Systems with unknown dynamics is proposed. A novel method based on the Sliding Mode with Time Delay Control (SMTDC) is proposed by combining a Sliding Mode Control (SMC) with saturation (sat) function and Time Delay Control (TDC). This method (SMTDC), allows chattering reduction on control inputs and estimates the amounts...
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