This paper demonstrates the iTaSC approach to a force-sensorless and bimanual human-robot comanipulation task on a tree-structured robot, comprising (i) co-manipulation of an object with a person, (ii) dynamic and static obstacle avoidance with its base, (iii) maintaining visual contact with the operator, and (iv) unnatural pose prevention. The task is implemented in a structured way in a reusa...

n this paper work, sensorless speed control of three phase induction motor is to be carried out using predictive current method and space vector PWM. A closed loop estimation system is proposed with robustness against motor parameters variation is used for the control approach. The novelty of the presented solution is the integration of a simple observer for both speed/flux and current control ...

an adaptive version of growing and pruning rbf neural network has been used to predict the system output and implement linear model-based predictive controller (lmpc) and non-linear model-based predictive controller (nmpc) strategies. a radial-basis neural network with growing and pruning capabilities is introduced to carry out on-line model identification.an unscented kalman filter (ukf) algor...

1This paper presents a new speed observer for high performance FOC (Field Oriented Control) and DTC (Direct Torque Control) induction motor drives. It is an MRAS (Model Reference Adaptive Systems) observer which employs a linear ANN (Artificial Neural Network) for the estimation of both the rotor speed and the flux-linkage. The training of the ANN based adaptive model of the MRAS observer is pe...