Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...

Switched reluctance motor (SRM) drive has remarkable characteristics that make it attractive for high-speed applications. As the motor's speed increases the shape of the current waveform changes in such way that limits the production of motoring torque. At high speeds, it is possible for the phase current never reaches the desired value due to the self e.m.f. of the motor, therefore, the torque...

In this paper combination of a load-commutated inverter (LCI) and a voltage-source inverter (VSI) are employed for performance analysis of induction motor drive. Performance of the drive has been evaluated through the different variation in reference speed and load torque. proposed LCI-based induction motor drives include the following Advantages: 1) sinusoidal motor phase current and voltage b...