Motor Control Strategies Research Articles

Sex differences in the fractal dynamics of force control during maximal handgrip

This work examines the temporal structure of force fluctuations during maximal handgrip with detrended fluctuation analysis (DFA α). Here, we assess the influence of fatigue and sex on force complexity during unimanual handgrip for the fatigued and the contralateral, non-fatigued hand. Participants randomly completed experimental sessions requiring fatiguing handgrip contractions or control measurements only. Maximal unimanual forces of both hands were measured before and after the fatigue trial or a time-matched control visit. DFA revealed substantially lower alpha values for females (PRE = 1.15, POST = 1.25) compared to males (PRE = 1.30, POST = 1.33) regardless of fatigue (p < 0.01, d = 0.738) for the dominant hand with a similar pattern observed for the contralateral, non-fatigued hand (p = 0.045, d = 0.561). Females also showed greater alpha changes (Δ = 0.09) versus males (Δ = 0.01) following fatigue (p = 0.028, ηp2 = 0.151). The data provide evidence of reduced force complexity during successive maximal handgrip contractions for females, but not males. Our findings highlight task-specific factors involving force control and demonstrate the utility of complexity analyses to provide insights regarding the influence of sex on motor control strategies.

Effects of backward-directed resistance on propulsive force generation during split-belt treadmill walking in non-impaired individuals.

Backward-directed resistance is the resistance applied in the opposite direction of the individual's walking motion. Progressive application of backward-directed resistance during walking at a target speed engages adaptive motor control to maintain that speed. During split-belt walking, a motor control strategy must be applied that allows the person to keep up with the two belts to maintain their position on the treadmill. This situation becomes more challenging when progressive resistance is applied since each limb needs to adapt to the greater resistance to maintain the position. We propose that strategies aimed at changing relative propulsion forces with each limb may explain the motor control strategy used. This study aimed to identify the changes in propulsive force dynamics that allow individuals to maintain their position while walking on an instrumented split-belt treadmill with progressively increasing backward-directed resistance. We utilized an instrumented split-belt treadmill while users had to overcome a set of increasing backward-directed resistance through the center of mass. Eighteen non-impaired participants (mean age = 25.2 ± 2.51) walked against five levels of backward resistance (0, 5, 10, 15, and 20% of participant's body weight) in two different modalities: single-belt vs. split-belt treadmill. On the single-belt mode, the treadmill's pace was the participant's comfortable walking speed (CWS). In split-belt mode, the dominant limb's belt pace was half of the CWS, and the non-dominant limb's belt speed was at the CWS. We assessed differences between single-belt vs. split-belt conditions in the slope of the linear relationship between change in propulsive impulse relative to change of backward resistance amount. In split-belt conditions, the slower limb showed a significantly steeper increase in propulsion generation compared to the fast limb across resistance levels. As a possible explanation, the slow limb also exhibited a significantly increased slope of the change in trailing limb angle (TLA), which was strongly correlated to the propulsive impulse slope values. We conclude that the motor control strategy used to maintain position on a split-belt treadmill when challenged with backward-directed resistance is to increase the propulsive forces of the slow limb relative to the fast limb by progressively increasing the TLA. ClinicalTrials.gov, identifier NCT04877249.

Research on the motion control strategy of autonomous excavator based on online compensation

The motion control accuracy of the excavator manipulator is the primary guarantee for autonomous excavators to complete work tasks. This paper studies the motion control strategy of the manipulator of a certain autonomous excavator. By establishing a dynamic model of a 3-degree of freedom of excavator manipulator, the gravity term, inertia term, and centripetal force term in the model are equivalent to external disturbances for online compensation, which improves the motion control accuracy of the excavator manipulator. Based on the dynamic model, a control method of the bucket tooth tip trajectory of an autonomous excavator is proposed. The simulation and test results show that the maximum tracking errors of the joint angles of the boom, the bucket, and the bucket are reduced by 43.14, 26.56, and 51.05% respectively, and the average errors of the whole trajectory are reduced by 56.41, 61.33, and 64.26% respectively. The simulation and test results show that the proposed motion control strategy improves the operation accuracy of the excavator, and can effectively improve the operation accuracy and efficiency of the autonomous excavator.

Multimodal Motion Control of Soft Ferrofluid Robot With Environment and Task Adaptability

Soft microrobotics has recently been an active field that advances new microrobot design, adaptive motion, and biomedical applications. In this work, we study the ferrofluid robot (FR), which has soft nature and exhibits paramagnetism. Currently, motion of the FR is usually realized by magnetic force, and the task execution requires relatively complex systems for simultaneous field and gradient control. To enable the FR with more motion modes for environment and task adaptability, we program three dynamic field forms and realize three corresponding torque-actuated motion modes: <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Rolling</i> , <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Wobbling</i> , and <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Oscillating</i> . Together with the force-based <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Dragging</i> mode, we provide a complete motion control scheme for the FR. As this scheme only requires 3-D dynamic fields or gradients for actuation, the complexity of the magnetic actuation system is reduced. We formulate the motion and deformation actuation principles of the FR, and the four motion modes are demonstrated and characterized. With the implementation of automated tracking and control algorithms, controllability of the new torque-based modes is testified. We then fabricate different kinds of environments and cargoes to validate the environment and task adaptability of the FR by using the proposed scheme. Especially, we implement the scheme on a self-constructed system consisting of three mobile coils, and experiments realize the long-distance navigation of the FR via <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Rolling</i> or <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Dragging</i> modes. The ultrasound-guided navigation in a 3-D tissue-mimicking endovascular environment shows the potential for delivery applications.

Constrained Motion Control of an Electro- Hydraulic Actuator Under Multiple Time-Varying Constraints

The motion control technology of electro-hydraulic actuators has great significance in industrial applications. Constraints significantly limit the motion control performance of actuator motion control, in addition to the inherent nonlinearities and uncertainties of the electro-hydraulic systems. The constraints comprise kinematic and dynamic constraints, and they can be time-varying owing to variations in the system. If the constraints are not fulfilled, the control accuracy may be adversely affected, for instance by actuator vibration, cavitation, or even instability. This study proposes a constrained motion control strategy for a variable-speed pump-driven hydraulic actuator. To robustly track a desired trajectory under constraints, the control strategy combines a nonlinear filter-type trajectory planning strategy and an adaptive robust motion controller. The trajectory planning strategy is designed by considering dynamic and kinematic constraints of the electro-hydraulic system, and it synthesizes a trajectory that reaches the given reference in minimum time while fulfilling these multiple constraints. Meanwhile, the adaptive robust motion controller tracks the synthesized trajectory with guaranteed control accuracy in the presence of inherent nonlinearities of the electro-hydraulic actuator. In addition, the assignments of the multiple constraints are adjusted in real time, which further optimize the constrained motion control performance. Comparative experiments with various given references were conducted to verify the advantages of the proposed constrained control strategy.

A sliding mode‐based single‐loop control strategy for permanent magnet synchronous motor drives

AbstractA simple control structure with high anti‐disturbance ability is proposed here for permanent magnet synchronous motor (PMSM) drives. The conventional cascade structure, with an outer speed loop and an inner current loop, is simplified and merged into one single‐loop controller. To enhance the dynamic performance and efficiency of the PMSM drives, an enhanced adaptive reaching law (EARL) is proposed for the single‐loop control strategy. In comparison with conventional reaching laws, the EARL can increase the convergence speed, adapt the gain to fit the system state, and reject the chattering phenomena of conventional sliding mode control. Moreover, an improved disturbance observer (DOBS) is developed to work with the main controller. The DOBS aims to enhance the estimation accuracy of real‐time unknown disturbances in the PMSM system, thereby further improving the disturbance rejection capability through feedforward compensation for the single‐loop control strategy. The EARL and DOBS thus enhance the robustness of the control strategy and ensure high dynamic performance at various motor operating conditions. The performance and efficiency of the proposed control are validated through simulations and experimental studies.

Performance Optimization for Bionic Robotic Dolphin with Active Variable Stiffness Control.

Aquatic animals such as fish and cetaceans can actively modulate their body stiffness with muscle to achieve excellent swimming performance under different situations. However, it is still challenging for a robotic swimmer with bionic propulsion mode to dynamically adjust its body stiffness to improve the swimming speed due to the difficulties in designing an effective stiffness adjustment structure. In this paper, based on the special torque mode of a motor, we propose an active variable stiffness control method for a robotic dolphin to pursue better swimming speed. Different from a variable stiffness structure design, a torque control strategy for the caudal motor is employed to imitate the physical property of a torsion spring to act as the variable stiffness component. In addition, we also establish a dynamic model with the Lagrangian method to explore the variable stiffness mechanism. Extensive experiments have validated the dynamic model, and then the relationships between frequency and stiffness on swimming performance are presented. More importantly, through integrating the dynamic model and torque actuation mode-based variable stiffness mechanism, the online performance optimization scheme can be easily realized, providing valuable guidance in coordinating system parameters. Finally, experiments have demonstrated the stiffness adjustment capability of the caudal joint, validating the effectiveness of the proposed control method. The results also reveal that stiffness plays an essential role in swimming motion, and the active stiffness adjustment can significantly contribute to performance improvement in both speed and efficiency. Namely, with the adjustment of stiffness, the maximum speed of our robotic dolphin achieves up to 1.12 body length per second (BL/s) at 2.88 Hz increasing by 0.44 BL/s. Additionally, the efficiency is also improved by 37%. The conducted works will offer some new insights into the stiffness adjustment of robotic swimmers for better swimming performance.

Motion-Control Strategy for a Heavy-Duty Transport Hexapod Robot on Rugged Agricultural Terrains

Legged agricultural transportation robots are efficient tools that can autonomously transport goods over agricultural terrain, and their introduction helps to improve the efficiency and quality of agricultural production. Their effectiveness depends on their adaptability to different environmental conditions, which is especially true for heavy-duty robots that exert ground forces. Therefore, this study proposes a motion-control strategy for a heavy-duty transport hexapod robot. Two critical tasks were accomplished in this paper: (1) estimating the support surface angle based on the robot’s foot position and body posture, and accordingly determining the motion constraint conditions on this support surface and the body posture based on energy optimization; (2) proposing an adaptive fuzzy impedance algorithm for real-time force–position composite control for adjusting foot position, in order to reduce the steady-state force tracking error caused by terrain stiffness, thus ensuring body stability through tracking of variable foot-end forces. An element of hardware in the loop control platform for a 3.55-ton device was designed and compared with the current popular force-control methods under different external contact terrains. The results show that the proposed control method can effectively reduce force errors, establish support forces faster on less-stiff environments, and reduce the torso tilt during phase switching.

Low order speed harmonic suppression in FOC-PMSM based on the closed-loop transfer mechanism of injected voltage

In the field oriented control (FOC) permanent magnet synchronous motor (PMSM) servo system, torque ripple impairs motor performance. Harmonic injection methods can suppress torque ripple by injecting additional voltage harmonic to offset the existing speed harmonic. However, since FOC is a closed-loop motion control strategy, the transfer path from injected voltage harmonic to speed harmonic is affected by FOC, especially in very low frequency. Due to the influence of FOC on the transfer function, the relation between the injected voltage harmonic and speed harmonic varies with operating conditions and motor control parameters. It causes the existing harmonic injection methods ineffective to suppress low order speed harmonics. To solve the problem, in this paper, the closed-loop transfer mechanism of injected voltage harmonics is analyzed and the closed-loop transfer function is derived. Based on the derived closed-loop transfer function, a low order speed harmonic suppression method is proposed. With the derived transfer function, the proposed method can adapt to the variations of the relation between low order injected voltage harmonic and speed harmonic under different operation conditions. Finally, the accuracy of the derived closed-loop transfer function and the effectiveness of the proposed low order speed harmonic suppression method are evaluated by experiment.

Direct vector control strategy of 2-phase induction motor drives based on the conventional rotating transformation matrix and EKF

Direct vector control strategy of 2-phase induction motor drives based on the conventional rotating transformation matrix and EKF

Safe Machine-Learning-Supported Model Predictive Force and Motion Control in Robotics

Many robotic tasks, such as human-robot interactions or the handling of fragile objects, require tight control and limitation of appearing forces and moments alongside sensible motion control to achieve safe yet high-performance operation. We propose a learning-supported model predictive force and motion control scheme that provides stochastic safety guarantees while adapting to changing situations. Gaussian processes (GPs) are used to learn the uncertain relations that map the robot’s states to the forces and moments. The model predictive controller uses these Gaussian process models to achieve precise motion and force control under stochastic constraint satisfaction. As the uncertainty only occurs in the static model parts — the output equations — a computationally efficient stochastic MPC formulation is used. analysis of recursive feasibility of the optimal control problem and convergence of the closed loop system for the static uncertainty case are given. Chance constraint formulation and back-offs are constructed based on the variance of the Gaussian process to guarantee safe operation. The approach is illustrated on a lightweight robot in simulations and experiments.

Evaluation of intelligent PPI controller for the performance enhancement of speed control of induction motor

Induction motor control for high dynamic performance industrial applications is often difficult due to parameters sensitivity and its non-linearity. Through independent manipulation of the flux and torque producing components, Field Oriented Control (FOC) methodologies have been used to improve dynamic performance, widen speed range, and torque/flux quality. Studies have shown that the Parallel Proportional Integral (PPI) compensation method produces responses of higher quality than the traditional cascaded Proportional Integral (PI) type though tuning gains for PPI controller is time consuming and inaccurate. In this research work, modeling of control strategy for Induction motor and tuning of four parameters (Ki, Ki1, Kp, Kp1) of PPI controller at the outer speed control loop have been conducted using GA and PSO algorithms. The speed and torque responses' performances of the proposed controller, PPI-PSO and PPI-GA, have been contrasted with each other. For simulation, SIMULINK and a programming environment of a MATLAB software were employed. The simulation result illustrated that PSO based tuning out performs the GA based tuning in terms of dynamic speed response, torque quality and disturbance rejection capability in the newly control mechanism. Although the speed trajectory tracking performance of both the controllers presented in this study is comparable, comparatively low dynamic performance was found for PPI-GA controller at both high and low speed tests inside the same search space. The PPI-PSO controller yields an optimal result having 0.270 % overshoot, a settling time of 8.185 s, and a rise time of 8.037 s in comparison with PPI-GA controller which exhibits overshoot of 0.640 %, a settling time of 9.596 s, and a rise time of 8.615 s with high-speed trajectory tracking test.

A Light-Powered Liquid Crystal Elastomer Roller.

Achieving and controlling the desired movements of active machines is generally accomplished through precise control of artificial muscles in a distributed and serialized manner, which is a significant challenge. The emerging motion control strategy based on self-oscillation in active machines has unique advantages, including directly harvesting energy from constant ambient light, and it has no need for complex controllers. Inspired by the roller, we have innovatively developed a self-rolling roller that consists of a roller and a liquid crystal elastomer (LCE) fiber. By utilizing a well-established dynamic LCE model and subjecting it to constant illumination, we have investigated the dynamic behavior of the self-rolling roller. Based on numerical calculations, it has been discovered that the roller, when subjected to steady illumination, exhibits two distinct motion regimes: the static regime and the self-rolling regime. The self-rolling regime, characterized by continuous periodic rolling, is sustained by the interaction between light energy and damping dissipation. The continuous periodic rolling observed in the self-rolling regime is maintained through the interplay between the dissipation of damping and the absorption of light energy. In the static state, the rolling angle of the roller begins to decrease rapidly and then converges to zero. Detailed investigations have been conducted to determine the critical conditions required to initiate self-rolling, as well as the essential system parameters that influence its frequency and amplitude. The proposed self-rolling roller has superiorities in its simple structure, light weight, alternative to manual labor, and speediness. This advancement is expected to inspire greater design diversity in micromachines, soft robotics, energy harvesters, and similar areas.

Muscle synergies in joystick manipulation.

Extracting muscle synergies from surface electromyographic signals (sEMGs) during exercises has been widely applied to evaluate motor control strategies. This study explores the relationship between upper-limb muscle synergies and the performance of joystick manipulation tasks. Seventy-seven subjects, divided into three classes according to their maneuvering experience, were recruited to perform the left and right reciprocation of the joystick. Based on the motion encoder data, their manipulation performance was evaluated by the mean error, standard deviation, and extreme range of position of the joystick. Meanwhile, sEMG and acceleration signals from the upper limbs corresponding to the entire trial were collected. Muscle synergies were extracted from each subject's sEMG data by non-negative matrix factorization (NMF), based on which the synergy coordination index (SCI), which indicates the size of the synergy space and the variability of the center of activity (CoA), evaluated the temporal activation variability. The synergy pattern space and CoA of all participants were calculated within each class to analyze the correlation between the variability of muscle synergies and the manipulation performance metrics. The correlation level of each class was further compared. The experimental results evidenced a positive correlation between manipulation performance and maneuvering experience. Similar muscle synergy patterns were reflected between the three classes and the structure of the muscle synergies showed stability. In the class of rich maneuvering experience, the correlation between manipulation performance metrics and muscle synergy is more significant than in the classes of trainees and newbies, suggesting that long-term training and practicing can improve manipulation performance, stability of synergy compositions, and temporal activation variability but not alter the structure of muscle synergies determined by a specific task. Our approaches and findings could be applied to 1) reduce manipulation errors, 2) assist maneuvering training and evaluation to enhance transportation safety, and 3) design technical support for sports.

Motion planning and control strategy of a cable-driven body weight support gait training robot

Abstract. In this paper, a cable-driven body weight support gait training robot (C-BWSGTR) that provides patients with partial body weight support as well as a kind of stable gait training driving force was designed; this device enabled those patients to walk again. Firstly, the overall configuration of the C-BWSGTR was determined, and the structural composition and working principle of the robot were established. Secondly, the vector algebra method was applied to carry out the kinematic analysis and establish the mathematical model of the C-BWSGTR. The displacement of each cable during the patient gait training was also calculated. Thirdly, the motion planning of the C-BWSGTR was carried out in stages, using the time–phase distribution relationship based on an S-shaped speed curve. Meanwhile, the displacement, speed, and acceleration of each cable during the patient gait training were calculated and corresponding change curves were generated. Finally, a position servo composite control strategy for the C-BWSGTR was designed by analyzing the robot's dynamic characteristics of the forward channel transfer function. The simulation analysis and prototype experiment in this paper verified that the designed composite position servo control strategy can meet the requirements of the system with respect to stability and a fast response of the system to the loading command.

Backstepping speed controller design for a multi-phase permanent magnet synchronous motor drive

This paper deals with the synthesis of a speed control strategy for a six-phase permanent magnet synchronous motor (PMSM) drive based on backstepping controller (BC). The Backstepping control is a systematic and recursive design methodology for nonlinear feedback control. The results demonstrate that backstepping controller has the advantage of rapid response, no overshoot and stability compared with PI controller.

Numerical simulation study on hydrodynamic time-delay characteristics of supercavitating vehicle

Due to the existence of the time-delay effect of the supercavity, the fluid dynamics of the supercavitating vehicle in the maneuvering will exhibit extremely strong unsteady characteristics, which will bring great challenges to the hydrodynamic acquisition, motion performance analysis and control scheme design and evaluation of the vehicle. Therefore, it is of great significance to study the hydrodynamic characteristics and formation mechanism of the vehicle in supercavitating state. In this paper, a three-dimensional numerical model for continuous motion of the supercavitating vehicle at varying angles of attack is established by using the dynamic mesh technique. The accuracy of the model is verified by using the water tunnel test results. Through simulation, the unsteady cavitation development and hydrodynamic characteristics of the supercavitating vehicle at different speeds, swing frequencies and preset rudder angles are obtained. The results show that the hydrodynamics of the supercavitating vehicle under unsteady motion has time-delay characteristics, and the prediction results of the conventional hydrodynamic calculation method of the vehicle have large errors. The cavitation time-delay effect and the dynamic development of the attached cavitation are the fundamental reasons for the formation of the unsteady hydrodynamic time-delay characteristics of the supercavitating vehicle. The hydrodynamic time-delay characteristics of the supercavitating vehicle is significantly enhanced with the increasing of velocity and weakened with the increasing of swing frequency. The preset rudder angle of the cavitator results in different time-delay characteristics when the vehicle swings at positive and negative angles of attack.

Relationships between trunk muscle activation and thoraco-lumbar kinematics in non-specific chronic low back pain subgroups during a forward bending task

BackgroundTrunk muscle activity and thoraco-lumbar kinematics can discriminate between non-specific chronic low back pain (NSCLBP) subgroups and healthy controls. However, research commonly focuses on lumbar kinematics, with limited understanding of relationships between kinematics and muscle activity across clinical subgroups. Similarly, the thoracic spine, whilst intuitively associated with NSCLBP, has received less attention and potential relationships between spinal regions and muscle activity requires exploration. Research questionIs there a relationship between trunk muscle activation and regional thoracic and lumbar kinematics in NSCLBP subgroups during a forward bending task? MethodsObservational, case-control study. Fifty subgrouped NSCLBP motor control impairment participants (27 Flexion Pattern (FP-MCI), 23 Active Extension Pattern (AEP-MCI)) and 28 pain-free controls were evaluated using 3D motion analysis (Vicon™) and surface electromyography during a forward bending and return to upright task. Mean sagittal angles for the upper-thoracic (UTx), lower-thoracic (LTx), upper-lumbar (ULx) and lower-lumbar (LLx) regions were compared with normalised (% sub-maximal voluntary contraction) mean amplitude electromyography of bilateral transversus abdominis/internal oblique, external oblique, superficial lumbar multifidus and erector spinae (longissimus thoracis) muscles between groups. Pearson correlations were computed to assess relationships (significance p < 0.01). ResultsAEP-MCI individuals demonstrated statistically significant relationships between superficial lumbar multifidus and ULx and LLx kinematics (−.812 to.659). FP-MCI individuals exhibited statistically significant relationships between erector spinae and superficial lumbar multifidus and LLx and LTx kinematics (−.686 to.664) in both task phases, and between external oblique and LTx during forward bending) (−.459 to.572). Correlations were moderate to strong for all significant relationships (−.812 to .664). SignificanceRelationships between muscle activity and regional spinal kinematics varied between NSCLBP subgroups, suggesting that those with flexion- or extension-related LBP adopt different motor control strategies when performing a bending task. As effectively mechanical biomarkers, these findings may inform treatment by improving understanding of varied motor strategies in subgroups.

A High-Performance and Cost-Effective Field Programmable Gate Array-Based Motor Drive Emulator.

This work presents a hardware-based digital emulator capable of digitally driving a permanent magnet synchronous machine electronic setup. The aim of this work is to present a high-performance, cost-effective, and portable complementary solution when new paradigms of electronic drive design are generated, such as machine early failure detection, fault-tolerant drive, and high-performance control strategy implementations. In order to achieve the high performance required by the digital emulator, the electronic drive models (permanent-magnet synchronous machine, voltage-source inverter, motor-control strategy) are digitally described in Verilog hardware description language and implemented on a field programmable gate array (FPGA) digital platform using two approaches: parallel and sequential methods. The results obtained show the effectiveness of the digital emulator design, and the resources used by the solution presented can be implemented on a low-cost digital platform that reveals a cost-effective operation of the solution presented.

Neural Network-Driven Sensorless Speed Control of EV Drive Using PMSM

To reduce pollution and energy consumption, particularly in the automotive industry, energy saving is the main concern, and hence, Electric vehicles (EVs) are getting significantly more attention than vehicles with internal combustion engines (IC engines). Electric motors used in Electric Vehicles (EVs) must have high efficiency for maximum utilization of the energy from the batteries or fuel cells. Also, these motors must be compact, lightweight, less expensive and very easily recycled. Further, to obtain better dynamic performance, various motor control strategies are used to control the speed of the motor. And to have increased reliability, sensorless speed control techniques that offer sufficiently high performance are used. The sensorless speed control techniques are largely divided into three groups: state observer methods, indirect measurement methods and saliency-based methods. Generally, the state observer uses back emf or flux linkage to estimate the speed of the motor. Since the back emf is directly proportional to the rotor speed, at low-speed back emf based method will give poor performance. The current-based Model Reference Adaptive System (MRAS) model is also popular for estimating low speed; however, assessments deteriorate during high performance applications such as EV. This paper presents an artificial neural network (ANN)-deployed sensorless speed control of permanent magnet synchronous motor (PMSM) drive used in EVs. In this paper, the estimation of speed using the current-based MRAS model is discussed and compared with the proposed ANN-based controller, which shows significant improvement in the performance of EV motor drives. The MATLAB simulation and experimental results are presented to validate the proposed algorithm.