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Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation
- Xiuqin Wang,
- Rui Zhang,
- Guoli Li,
- Qunjing Wang and
- Yan Wen
A multi-degree-of-freedom Permanent Magnet Spherical Actuator (PMSpA) has a special mechanical structure and electromagnetic fields, and is easily affected by nonlinear disturbances such as modeling errors and friction. Therefore, the quality of a PM...