Hefei Zhang

Torque Ripple Reduction in Quasi-Direct Drive Motors Through Angle-Based Repetitive Learning Observer and Model Predictive Torque Controller

Torque ripple reduction in quasi-direct drive (QDD) motors is crucial in their robotic applications for dynamic locomotion and dexterous manipulation. In this paper, we present a novel approach for reducing torque ripples of QDD motors, which integrates an angle-based repetitive learning observer (A…