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The sub-motor controls hysteresis by adjusting the coefficient Cs in proportion to the angular velocity of the steering wheel in Fig. 16. The model reaction torque shown in (16) controls steering sensitivity for driver. The coefficient Cs is determined by difference angle Δθ from the formula (17). 5 [Hz], lissajous curve is drawn To evaluate the steering characteristics. This result is shown in Fig. 18. 6. When the coefficient Cs is large, the hysteresis band is expanded. 19, high frequency steering torque vibration is reduced.

12. Speed, acceleration and current obtained in Experiment 3 using the torque control technique and considering three reference points for TREF. Fig. 13. Bar graph of the experimental results. Study on the Energy Efficiency of Soft Starting of an Induction Motor with Torque Control 45 Measures of energy consumption for Experiment 3 were taken. 484 kVArh. The bar graph shown in Figure 13 compares the values of consumed energy (active power and reactive power) for the three experiments. Comparing the values of energy consumed in Experiments 1 and 2, it appears that the difference is not appreciable.

Nevertheless, one would like to spare the control system having position or velocity sensor attached to the robot end-effector. With the observer presented in (Khalil & Sabanovic, 2010b;b), the position and velocity of the non-collocated end-effector can be observed from measurements taken from the input (actuator) of the dynamical system. This in turn, spares the non-collocated end-effector of the robot having any attached sensors. 579 Sensorless Torque/Force Control Sensorless Torque/Force Control In the next Section, a novel observer is introduced based on the action reaction law of dynamics in order to allow realization of the force observer without taking the velocity measurement from the dynamical system but rather its estimate.

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