SUMMARY
The problem of finite-time tracking control for n-link flexible-joint robot manipulators is addressed. An adaptive fuzzy finite-time command-filtered backstepping control scheme is presented to solve the following problems: “explosion of terms” problem, finite-time stabilization of the closed-loop system, and the reduction of computational cost. To this end, new virtual adaptive control signals and new finite-time error compensation mechanism are constructed using inherent properties of robot manipulator systems. Based on the Lyapunov theory, the finite-time stabilization of the closed-loop system is proved. Simulation studies show the effectiveness of the proposed method.
This paper presents the design and implementation of a digital control system for modular multilevel converters (MMC) and its use in a 5 kW small-scale prototype. To achieve higher system control reliability and multi-functionality, the proposed architecture has been built with an effective split of the control tasks between a master controller and six slave controllers, one for each of the six arms of the converter. The MMC prototype has been used for testing both converter and system-level controls in a reduced-scale laboratory set up of a Multi-Terminal DC transmission network (MTDC).The whole control has been tested to validate the proposed control strategies. The tests performed at system level allowed exploration of the advantages of using an MMC in a MTDC system.
DC link back-to-back converters are widely used in industrial applications. This interest comes from their power factor unity capability on the utility grid and to maintain regulated output parameters, thanks to the decoupling between the grid and the load side. In this paper, a 150 KVA prototype of DC link back-to-back converter for electrical resistance seam welding applications is described. The focus of the paper is on the control strategy developed to absorb constant power from the three-phase utility grid. The key idea is to allow the voltage on the DC bus to vary in order to avoid the propagation at the input side of the pulsed power required by the load. An estimation procedure of the load parameters is presented too. The effectiveness of this control scheme has been proved by simulations and tests.
Herein, the behavior of the soliton light pulse when quintic –nonlinearity, third‐order dispersion, and self‐steepening come into play in a nonlinear metamaterial for both negative index and absorption regimes is presented. The collective coordinate technique is used with the conventional Gaussian ansatz function to give a good characterization of the pulse profile. In addition to that the ansatz function presents six coordinates describing the internal behavior of the pulse during the propagation. Furthermore, the main goal of this work is to give an exact measure of the internal behavior leading to the generation of rogue events by collective coordinates. Some interesting results are found when the aforementioned linear and nonlinear effects gradually come into play. Among them is the generation of different forms of breather solutions, divergent wave trains, different forms of Sasa–Satsuma rogue waves, parabolic wave trains, Peregrine rogue waves, and “tree structures”. Some special phenomena known as deletion, translation, attenuation, and wall of waves are also shown. However, some new exact rogue solutions of the cubic–quintic nonlinear Schrödinger equation are also found.
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