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Designing a robot controller that can optimally manage limited resources in a deterministic, real-time manner can be challenging. Behavior-based architectures, which split autonomy into levels, are very popular but neither have real-time features that enforce timing constraints nor support determinism. Even though real-time features are not included, it(More)
This paper presents the Local Vector Control (LVC) algorithm that is applicable to power electronic systems. This controller does not differentiate between linear or non-linear systems and can operate, without change, in stationary or rotating reference frames. The performance of this current controller with particular emphasis on current clamp minimisation(More)
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