in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

A primal interior point method for control constrained optimal control problems with PDE constraints is considered. Pointwise elimination of the control leads to a homotopy in the remaining state and dual variables, which is addressed by a short step pathfollowing method. The algorithm is applied to the continuous, infinite dimensional problem, where discretization is performed only in the inne...

In the present study, a data-driven ripple-free design is proposed for dual-rate sampled-data control system in which sampling interval of plant output longer than holding input. The objective study to improve steady-state intersample response without changing sampled and using model. To achieve directly from controlled data, an add-on input based on null space step responses existing used. ope...

Sensors and communication capabilities of connected vehicles provide look-ahead information that can be exploited by vehicle controllers. This work demonstrates the benefits combined with hierarchical economic model predictive control for airpath management compression ignition engines. exploits road predicted a 0.1-and 2-s horizon to simultaneously fast slow engine dynamics, respectively. It c...

The synchronization error of a dual-motor system will seriously affect the motion profile accuracy. To solve this problem, an adaptive fractional-order anti-saturation synchronous control method based on frequency-domain theory is proposed in paper. On one hand, performs compensation closed-loop feedback loop to unify characteristics for system. With characteristics’ unification module, have sa...

This article presents a Lagrange multiplier-based adaptive droop control to mitigate distribution power loss of parallel-connected distributed energy resource (DER) systems in dc microgrids. The comprising line and converter can be modeled as quadratic function the output currents DER systems, which optimized by tertiary-layer multiplier method obtain optimal current references for secondary-la...

The binding of protein HIV-1 gp120 to coreceptors CCR5 or CXCR4 is a key step of the HIV-1 entry to the host cell, and is predominantly mediated through the V3 loop fragment of HIV-1 gp120. In the present work, we delineate the molecular recognition of chemokine receptor CCR5 by a dual tropic HIV-1 gp120 V3 loop, using a comprehensive set of computational tools predominantly based on molecular ...

A micromachined gyroscope in which a high-speed spinning rotor is suspended electrostatically in a vacuum cavity usually functions as a dual-axis angular rate sensor. An inherent coupling error between the two sensing axes exists owing to the angular motion of the spinning rotor being controlled by a torque-rebalance loop. In this paper, a decoupling compensation method is proposed and investig...