基于李雅普诺夫预测模型的机器人柔性关节电机模型预测控制

To address the parameter sensitivity issue of flexible joint permanent magnet synchronous motors (FJ-PMSMs) when employing a candidate voltage vector strategy, an adaptive method based on the Lyapunov function predictive model is proposed. By using the finite control set model predictive control (FCS-MPC) approach, the continuous input control law is transformed into relevant constraints of the FC...