Momentum flywheels are widely applied for the generation of small and precise torque for the attitude control and inertial stabilization of satellites and space stations. Due to its inherited system nonlinearity, the tracking performance of the flywheel torque/speed in dynamic/plug braking operations is limited when a conventional controller is employed. To take advantage of the well-separated ...

Several interaction control algorithms have been proposed for physical human-robot interaction (pHRI) with the aim of assisting human movements. Some example are “path control” [4], “virtual model control” [7], “clime” [9] or gravity compensation [5], [3]. This class of algorithms is often built upon a force/torque controller that is supposed to be ideally fast. However when the algorithm is im...

Switched Reluctance Motors (SRM) have inherent advantages such as simple structure with non winding construction in rotor side, fail safe because of its characteristic which has a high tolerances, robustness, low cost with no permanent magnet in the structure, and possible operation in high temperatures or in intense temperature variations. The torque production in switched reluctance motor com...

Received Feb 13, 2017 Revised Apr 17, 2017 Accepted May 1, 2017 A Constant Switching Frequency Direct Torque Control (CSF-DTC) with low switching losses Space Vector modulation (SVM) for Permanent Magnet Synchronous Motor (PMSM) drive is proposed in this work. The CSF-DTC combines Field Oriented Control (FOC) and basic DTC advantages. Indeed, the proposed control strategy improves the basic DTC...