This paper investigates the application of fuzzy adaptive Kalman Filter for mechanical state
variable and parameter estimation of the drive system with elastic joint. The adaptive state …

The drive part in robotic system is usually modelled as a rigid body. However, in the practice,
there exist many elastic transmission elements, which may cause vibration to reduce system …

The paper deals with the concept of an adaptive compensator based on the MRAC structure
for the Direct Torque Control of an induction motor drive. The adaptive speed compensator …

This paper is devoted to the problem of designing a robust dynamic output-feedback
discrete-time sliding mode controller (ODSMC) for uncertain discrete-time systems. The …

Elastic joints in 2-mass drive systems, may lead to torsional oscillation which is usually
rectified by reducing the bandwidth of control system. In order to improve the control …

This paper presents an output-feedback sliding mode positioning controller that can damp
resonant modes in DC motors. Ironless (also known as coreless) DC motors have several …

This work deals with the design and implementation of feasible quasi-time-optimal control
algorithms in the context of drives. A consistent approach, based on ad hoc simplifications …

In recent years, active control of flexible structures has been studied extensively. The
motivation for continual studies with this approach is that the vibration performance of …

In his doctoral thesis Martin Goubej investigated several motion control design issues
relevant for mechanical systems exhibiting weakly damped dynamics. Namely, he claims …

In this work, a quasi-time-optimal, nonlinear state-feedback control for the torsional torque of
a two-mass system (TMS) is presented. The control scheme considers constraints in the …