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This paper establishes a model-free finite-time tracking control of nonlinear robotic manipulator systems. The proposed controller incorporates both time delay estimation (TDE) and an enhanced terminal sliding mode control (TSMC). The improved TSMC scheme is devised using fractional-order TSMC (FOTSMC) and proportionalintegral-derivative (PID) control to obtain robust tracking and high control performance. The TDE is designed to estimate the unknown nonlinear dynamics of robotic manipulators, including the Stribeck friction and the external disturbances. Due to Stribeck friction, the effect of TDE error may fail to obtain the desired error performance; thus, another TDE loop is devised to compensate for TDE error generated by non-smooth frictions. The Lyapunov criterion is used to investigate the finite-time stability to analyze the behavior of the designed approach. Finally, computer simulations of the proposed method on PUMA 560 robotic manipulators are performed in contrast with FOTSMC and adaptive fractional-order nonsingular terminal sliding mode control (AFONTSM).

This research proposes a three-phase six-level multilevel inverter depending on twelve-switch three-phase Bridge and multilevel DC-link. The proposed architecture increases the number of voltage levels with less power components than conventional inverters such as the flying capacitor, cascaded H-bridge, diode-clamped and other recently established multilevel inverter topologies. The multilevel DC-link circuit is constructed by connecting three distinct DC voltage supplies, such as single DC supply, half-bridge and full-bridge cells. The purpose of both full-bridge and half-bridge cells is to provide a variable DC voltage with a common voltage step to the three-phase bridge’s mid-point. A vector modulation technique is also employed to achieve the desired output voltage waveforms. The proposed inverter can operate as a six-level or two-level inverter, depending on the magnitude of the modulation indexes. To guarantee the feasibility of the proposed configuration, the proposed inverter’s prototype is developed, and the experimental results are provided. The proposed inverter showed good performance with high efficiency of 97.59% following the IEEE 1547 standard. The current harmonics of the proposed inverter was also minimized to only 5.8%.

Selective harmonic elimination (SHE) technique is used in power inverters to eliminate specific lower-order harmonics by determining optimum switching angles that are used to generate Pulse Width Modulation (PWM) signals for multilevel inverter (MLI) switches. Various optimization algorithms have been developed to determine the optimum switching angles. However, these techniques are still trapped in local optima. This study proposes an opposition-based quantum bat algorithm (OQBA) to determine these optimum switching angles. This algorithm is formulated by utilizing habitual characteristics of bats. It has advanced learning ability that can effectively remove lower-order harmonics from the output voltage of MLI. It can eventually increase the quality of the output voltage along with the efficiency of the MLI. The performance of the algorithm is evaluated with three different case studies involving 7, 11, and 17-level three-phase MLIs. The results are verified using both simulation and experimental studies. The results showed substantial improvement and superiority compared to other available algorithms both in terms of the harmonics reduction of harmonics and finding the correct solutions.

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Fuel cells have drawn a lot of interest in recent years as one of the most promising alternative green power sources in microgrid systems. The operating conditions and the integrated components greatly impact the quality of the fuel cell’s voltage. Energy management techniques are required in this regard to regulate the fuel cell’s power in a microgrid. The active/reactive power in the microgrid should be adjusted in line with US Energy Star’s regulations whereas the grid current needs to follow the standard set by IEEE 519 2014 to enhance the power quality of the electrical energy injected into the microgrid. Uncontrolled energy injection from the fuel cell can have serious impacts including superfluous energy demand, overloading, and power losses, especially in high power and medium voltage systems. Although fuel cells have many advantages, they cannot yet produce high voltages individually to compensate for the demand of a microgrid system. Due to these reasons, the fuel cell must be interfaced with a DC-DC converter. This research proposes a novel high voltage gain converter integrated 1.26 kW fuel cell for microgrid power management that can boost the fuel cell’s voltage up to 20 times. Due to this high voltage gain, the voltage and current ripple of the fuel cell is also reduced substantially. According to the analysis, the proposed converter demonstrated optimal performance when compared to the other converters due to its high voltage gain and extremely low voltage ripple. As a result, the harmonic profile of the microgrid current persists with a reduced THD of 3.22% and a very low voltage ripple of 4 V. To validate the converter’s performance, along with extensive simulation, a hardware prototype was also built. The voltage of the fuel cell is regulated using a simplified proportional integral controller. The operating principle of the converter integrated fuel cell along with its application in microgrid power management is demonstrated. A comparative analysis is also shown to verify how the proposed converter is improving the system’s performance when compared against other converters.

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