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Preliminary Experiments Toward a Torque Controlled Variable Reluctance Motor

Center for Systems Science, March 1990

A.A. Rizzi*, D. E. Koditschek†, M. Buehler*, P.J. Kindlmann*
*: Yale University
†: University of Pennsylvania
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NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.

      The variable reluctance motor. although offering the promise of a better torque to mass ratio than classical servo motors, has yet to see widespread application in the field of robotics. A major obstacle to its greater acceptance is the inherent complexity in developing a control strategy capable of accurate torque generation - an important criterion of performance in robotics. This report first presents the motivation for looking at the use of adaptive control techniques in the solution of this problem. We then document some inital investigations concerning the application of adaptive identification to this class of system. We conclude that adaptive control of variable reluctance motors cannot be satisfactorily achieved by recourse to traditional (and theoretically understood) “linear-in-parameters’ techniques. New techniques - possibly as yet unformulated - will be required.
BibTeX entry
@TECHREPORT{Rizzi-Center for Systems Science Yale-1989,
  author       = {A.A. Rizzi and D.E. Koditschek et al},
  title        = {Preliminary Experiments Toward a Torque Controlled Variable Reluctance Motor},
  year         = {1990},
  month        = {March},

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