Abstract: Sensor-less Model Predictive Direct Torque Control (MPDTC) scheme using a Sliding Mode Observer (SMO) for speed and electrical angle estimation and an Adaptive Disturbance Observer (ADO) for ...

PID control is the gold standard for most moving machines, and quite adequate in most applications that require closed-loop control. However, it's vulnerable to disturbances, and tuning can be tedious ...

Abstract: This study addresses the trajectory tracking problem of four-wheel wall-climbing robots, considering the effects of gravitational forces and external disturbances. A controller is proposed ...