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This paper deals with the switching regulation of Boost PFC converter under large and quick load fluctuation to ensure tight output voltage regulation and unity power factor (UPF) at line side. In this sense, Sliding Mode Control (SMC) technique based on current controlled manifold is proposed. Input current distortion is limited even during light loading condition. Also, the dead-zone issue related to light load near to the crossover of input current is resolved in this paper. To execute the proposed SMC algorithm, equivalent control approach is used for the selection of sliding coefficients, ensuring the system stability. The control operation manipulates both inner SM current controller to frame input current and an outer PI controller to maintain desired regulated output voltage. For experimental validation, a 500W, 390V/DC boost PFC prototype, controlled by dSPACE 1104 signal processor is framed. The presented simulation and experimental results infer that the proposed converter controller offers UPF, tight output voltage regulation and %THD (Total Harmonic Distortion) standard even under fluctuating load behaviour. In this paper, the performance of the proposed control scheme is experimentally verified with different load behaviour and external references, which explains the robustness and effectiveness of the proposed system.

Autonomous navigation of mobile robots in an uncertain and complex environment is a broad and complicated issue due to a variety of obstacles that mobile robots have to detect and represent in their maps to navigate safely. The objective of the navigation-mobile robot is to obtain an optimum path, meaning that the robot should plan a reliable path between the source point and the target point without colliding with the static and dynamic obstacles found in an uncertain and complex environment. Several efficient techniques have been developed by researchers in the motion planning of mobile robots. This paper presents detailed analysis of various techniques used in the autonomous navigation of mobile robot.

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