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The development of safe and dependable robots for physical human-robot interaction requires both the mechanical design of lightweight and compliant manipulators and the definition of motion control laws that allow compliant behavior in reaction to possible collisions, while preserving accuracy and performance during the motion in the free space. For these motivations, great attention has been posed...
A new backstepping controller is designed for two different speed sensorless induction motor, based on measurements of stator current. As in field-oriented control scheme, the backstepping analysis generates references for magnetizing flux component and for the speed component of the stator current. The control algorithm is proposed for replacing the existing PI controller to obtain high performance...
In this paper, we present a robust adaptive control system designed for three degree-of-freedom linear motion ultra accurate (Sawyer) stepper motors. Such motors are commonly used in the semiconductor industry for wafer-probing and in automated assembly. A detailed model of the motor is developed. A controller is designed for the motor that is robust to parametric uncertainties in the model and achieves...
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