A variable structure slip control strategy is developed for grasping objects by a robot end-effector. A hybrid controller comprised of a fuzzy controller and a PI controller is designed to perform the strategy. When a grasped object is slipped by an external force as a disturbance, the applied fingertip force is rapidly increased to stop sliding and then decreased to a reliable limit to hold th...

This paper presents a transconductor suitable for implementation in submicron CMOS technology. The transconductor is nearly insensitive for the second-order effects of the MOS transistors, which become more and more prevalent in today’s submicron processes. The transconductor relies on a differential pair with variable degeneration resistance, while the degeneration resistors are “soft-switched...

This paper presents the analysis for different control techniques in Z-source inverters. The voltage gain versus modulation index from simulation result is compared with the mathematical calculated voltage gain. Further detailed analysis of %THD, %harmonics of output voltage at different modulation indexes for different boosting techniques of a Z-source inverter are also performed with respect ...

A sliding sector has been defined as a subset of the state space, inside which a norm of state decreases with zero control input [1]. In this paper, an invariant sliding sector is defined to be such a kind of sliding sector inside which with a suitable control law, the norm keeps decreasing and the system state stays there since then after entering the sector, i.e. the sector defined in the pap...

The theory of variable structure systems (VSS) with sliding modes is currently one of the most significant research topics within the control engineering domain. Moreover, recently a number of important applications of the theory in the field of power electronics, motion control, robotics, bioprocess etc. have also been reported. Therefore, this paper presents a brief introduction to the theory...

This paper fully discusses how to design an observer based decentralized fuzzy adaptive controller for a class of large scale multivariable non-canonical nonlinear systems with unknown functions of subsystems’ states. On-line tuning mechanisms to adjust both the parameters of the direct adaptive controller and observer that guarantee the ultimately boundedness of both the tracking error and tha...

An electrolytic capacitors used as a decoupling reservoir which restrict the lifetime of photovoltaic (PV) micro inverters. This has led to the development of several improved decoupling circuits that can reduce the capacitor value to allow the use of non electrolytic types. The project focus on selection of the minimum decoupling capacitor value for the proper operation of discontinuous conduc...

In this paper, a procedure has been presented to develop fragility curves of structures equipped with optimal variable damping or stiffness semi-active tuned mass dampers (SATMDs). To determine proper variable damping or stiffness of semi-active devices in each time step, instantaneous optimal control algorithm with clipped control concept has been used. Optimal SATMDs have been designed based ...

This paper presents single phase Power Factor Correction (PFC) with proposed variable switching frequency (VSF) control technique. The increasing of non linear loads such as thyristor rectifiers, switching-mode power supplies, adjustable speed drives, and generate harmonic currents causing various problems to the other equipment connected to the point of common coupling. There are several disad...

This paper expands a nonlinear fuzzy based control strategy applied to a variable speed Wind Energy Conversion System WECS founded on Doubly Fed Induction Generator DFIG. As power network assists a high wind energy emergence, the studied WECS represents a wind farm WF of 500MW connected to the Grid and dispatched in such a way that it can contribute to grid frequency control with delivering a s...