待翻譯：From Continuous Design to Delay-Aware Discrete Synthesis: Guaranteed High-Bandwidth Joint Control for PMSM Drives
AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2608.14937v1 Announce Type: new Abstract: The increasing dynamic demands of modern robotic joints require current controllers to achieve high bandwidth over wide operating ranges of speed, acceleration, and torque, where communication, computation, and discrete-time effects can no longer be neglected. Conventional PMSM current controllers are typically designed in continuous time and subsequently discretized, leaving the sampling frequency and the impact of implementation delays largely to heuristic selection and iterative validation. This paper introduces a task-aware, delay-extended discrete-time joint model that explicitly accounts for physical communication and computation delays and enables direct synthesis of a discrete PI current controller with prescribed bandwidth and delay guarantees throughout the operating envelope. The framework analytically determines the minimum required sampling frequency, controller gains, and DC-link voltage needed to satisfy the specified motor and joint performance. Simulations across a range of dynamic requirements validate the methodology and demonstrate substantially reduced sampling-frequency and DC-link-voltage requirements compared with conventional continuous-time-based design. Experiments on a newly developed custom robotic joint further validate the proposed framework under real embedded implementation conditions.
AI 服務暫時不可用，以下為來源正文，待恢復後補全翻譯。
--> [Submitted on 14 Aug 2026] Title:From Continuous Design to Delay-Aware Discrete Synthesis: Guaranteed High-Bandwidth Joint Control for PMSM Drives View a PDF of the paper titled From Continuous Design to Delay-Aware Discrete Synthesis: Guaranteed High-Bandwidth Joint Control for PMSM Drives, by Edmundo Pozo Fortuni\'c and 2 other authors View PDF HTML (experimental) Abstract:The increasing dynamic demands of modern robotic joints require current controllers to achieve high bandwidth over wide operating ranges of speed, acceleration, and torque, where communication, computation, and discrete-time effects can no longer be neglected. Conventional PMSM current controllers are typically designed in continuous time and subsequently discretized, leaving the sampling frequency and the impact of implementation delays largely to heuristic selection and iterative validation. This paper introduces a task-aware, delay-extended discrete-time joint model that explicitly accounts for physical communication and computation delays and enables direct synthesis of a discrete PI current controller with prescribed bandwidth and delay guarantees throughout the operating envelope. The framework analytically determines the minimum required sampling frequency, controller gains, and DC-link voltage needed to satisfy the specified motor and joint performance. Simulations across a range of dynamic requirements validate the methodology and demonstrate substantially reduced sampling-frequency and DC-link-voltage requirements compared with conventional continuous-time-based design. Experiments on a newly developed custom robotic joint further validate the proposed framework under real embedded implementation conditions. Comments: 9 pages, 3 figures Subjects: Robotics (cs.RO) Cite as: arXiv:2608.14937 [cs.RO] (or arXiv:2608.14937v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.14937 arXiv-issued DOI via DataCite (pending registration) Submission history From: Edmundo Pozo Fortunić [view email] [v1] Fri, 14 Aug 2026 23:27:49 UTC (1,540 KB) Full-text links: Access Paper: View a PDF of the paper titled From Continuous Design to Delay-Aware Discrete Synthesis: Guaranteed High-Bandwidth Joint Control for PMSM Drives, by Edmundo Pozo Fortuni\'c and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)