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Human movement system is a Multi-DOF, redundant, complex and nonlinear system formed by coordinating combination of neural system, bones, muscles and joints, which is robust and has fast response and learning ability. Imitating human movement system can improve robustness, fast response and learning ability of the robots.

In this paper, we propose a new motion model based on the human motion pathway, especially the information propagation mechanism between the cerebellum and spinal cord.

The proposed motion model proves to have fast response and learning ability through experiments, which matches the features of human motion.

The proposed model in this paper introduces the habitual theory in kinesiology and neuroscience into robot control, and improves robustness, fast response and learning ability of the robots. This paper proves that introduction of neuroscience has an important guiding significance for precise and adaptive robot control, such as assembly automation.

The purpose of this paper is to propose a novel serial structure repetitive control scheme for shunt active power filter (SAPF) to improve the steady-state accuracy and dynamic performance of SAPF. The novelty of this scheme lies in the reconfiguration of the pole of repetitive control internal model, so that the dynamic response of the repetitive control is improved greatly.

By analyzing the mathematical model of repetitive control, the repetitive control delay can reduce by giving up the needless poles of the internal model, and the general mk + i repetitive control can be designed through the pole configuration method. The controller can track a set of specific order harmonics.

The experimental results are coincident with the theoretical analyses, which prove the effectiveness of the proposed method on harmonic suppression and great performance in dynamic response.

An APF prototype has been designed with the serial structure repetitive control proposed in this paper, and it can successfully eliminate the harmonics current of nonlinear load with faster dynamic response. Moreover, the proposed controller can be applied to any three-phase system for fast dynamic response and high tracking accuracy.

In this paper, the mathematical model of the repetitive control for specific set of harmonica is developed. A novel serial structure repetitive control is designed, so that the SAPF can eliminate the fundamental reactive current and specific order harmonics and speed up the dynamic response of the repetitive control.

With the increasing demands of industrial applications, it is imperative for robots to accomplish good contact-interaction with dynamic environments. Hence, the purpose of this research is to propose an adaptive fractional-order admittance control scheme to realize a robot–environment contact with high accuracy, small overshoot and fast response.

Fractional calculus is introduced to reconstruct the classical admittance model in this control scheme, which can more accurately describe the complex physical relationship between position and force in the interaction process of the robot–environment. In this control scheme, the pre-PID controller and fuzzy controller are adopted to improve the system force tracking performance in highly dynamic unknown environments, and the fuzzy controller is used to improve the trajectory, transient and steady-state response by adjusting the pre-PID integration gain online. Furthermore, the stability and robustness of this control algorithm are theoretically and experimentally demonstrated.

The excellent force tracking performance of the proposed control algorithm is verified by constructing highly dynamic unstructured environments through simulations and experiments. In simulations and experiments, the proposed control algorithm shows satisfactory force tracking performance with the advantages of fast response speed, little overshoot and strong robustness.

The control scheme is practical and simple in the actual industrial and medical scenarios, which requires accurate force control by the robot.

A new fractional-order admittance controller is proposed and verified by experiments in this research, which achieves excellent force tracking performance in dynamic unknown environments.

Five-level rectifiers have received widespread attention because of their excellent performance in high-voltage and high-power applications. Taking a five-level rectifier with only four-IGBT for this study, a sliding mode predictive control (SMPC) algorithm is proposed to solve the problem of poor dynamic performance and poor anti-disturbance ability under the traditional model predictive control with the PI outer loop.

First, mathematical models under the two-phase stationary coordinate system and two-phase synchronous rotating coordinate system are established. Then, the design of the outer-loop sliding mode controller is completed by establishing the sliding mode surface and design approach rate. The design of the inner-loop model predictive controller was completed by discretizing the mathematical model equations. The modulation part uses a space vector modulation technique to generate the PWM wave.

The sliding mode predictive control strategy is compared with the control strategy with a PI outer loop and a model predictive inner loop. The proposed control strategy has a faster dynamic response and stronger anti-interference ability.

For the five-level rectifier, the advantages of fast dynamic influence and parameter insensitivity of sliding mode control are used in the voltage outer loop to replace the traditional PI control, and which is integrated with the model predictive control used in the current inner loop to form a novel control strategy with a faster dynamic response and stronger immunity to disturbances. This novel strategy is called sliding mode predictive control (SMC).

The purpose of this paper is to develop a combined control (CC) technique based on the direct torque control (DTC) strategy and vector control (VC) method, to improve the overall performance of a three-phase induction machine (TPIM) drives.

The proposed control scheme includes a table-based DTC strategy in connection with a proportional-integral-sliding mode controller and pulse width modulation switching strategy. The control system has merits of DTC technique such as simple structure, less dependent on machine parameters, fast dynamic response and merits of VC technique such as high accuracy and constant switching frequency.

To validate the effectiveness of the proposed control system, simulation and experimental studies are carried out for a 0.75 kW TPIM in different operating conditions. The achieved results show the superiority of the proposed method in terms of fast dynamics and simple structure compared to the VC strategy and low speed and torque ripples and constant switching frequency compared to the DTC method.

Compared to the conventional CC strategies, the control law of the proposed method is based on DTC theory and modulation is established based on VC. In other words, the variable switching frequency which is one of the main disadvantages of the conventional CC strategies is rectified using the proposed CC scheme.

The purpose of this paper is to improve dynamic performance of the permanent magnet synchronous motor (PMSM) field oriented control by means of optimizing its PI controller’s coefficients.

In this paper, Krill Herd (KH) optimization algorithm is proposed to optimize PI controller coefficients. Moreover, drive control system and steady state estimator are implemented in discrete mode. In order to evaluate the performance of the proposed algorithm, a comparison is carried out between KH and PSO algorithms. It is noteworthy that PSO algorithm has presented the best dynamic response among the studied approaches in literature.

By using the proposed optimization algorithm, the system tracks the reference speed with a very low error. In addition, the discrete mode simulations do not require initiating integrators. Moreover, it significantly increases the processing speed. The proposed approach is carried out in both sensor and sensorless drive systems. The simulation results indicate lower torque ripple, shorter settling time, lower overshoot, faster dynamic response and higher robustness against speed, torque and machine parameter changes.

The PI controller is extensively used in practical drive systems, due to its simple structure and implementation as well as its acceptable performance. On the other hand, PMSM benefits from high power density, high efficiency, low torque ripple, low inertia, and high performance in a wide speed range. This paper presents an efficient approach to optimize PI coefficients of the PMSM drive system.

This paper proposes a new algorithm (KH algorithm) to determine the coefficients of PI controllers in order to improve dynamic performance of the PMSM drive system.

Control-signal-to-output-voltage transfer function of the conventional boost converter has at least one right-half plane zero (RHPZ) in the continuous conduction mode which can restrict the open-loop bandwidth of the converter. This problem can complicate the control design for the load voltage regulation and conversely, impact on the stability of the closed-loop system. To remove this positive zero and improve the dynamic performance, this paper aims to suggest a novel boost topology with a step-up voltage gain by developing the circuit diagram of a conventional boost converter.

Using a transformer, two different pathways are provided for a classical boost circuit. Hence, the effect of the RHPZ can be easily canceled and the voltage gain can be enhanced which provides conditions for achieving a smaller working duty cycle and reducing the voltage stress of the power switch. Using this technique makes it possible to achieve a good dynamic response compared to the classical boost converter.

The observations show that the phase margin of the proposed boost converter can be adequately improved, its bandwidth is largely increased, due to its minimum-phase structure through RHPZ cancellation. It is suitable for fast dynamic response applications such as micro-inverters and fuel cells.

The introduced method is analytically studied via determining the state-space model and necessary criteria are obtained to achieve a minimum-phase structure. Practical observations of a constructed prototype for the voltage conversion from 24 V to 100 V and various load conditions are shown.

This paper aims to propose a novel integrated control method (ICM) for high-power-density non-inverting interleaved buck-boost DC-DC converter. To achieve high power conversion by conventional single phase DC-DC converter, inductor value must be increased. This converter is not suitable for industrial and high-power applications as large inductor value will increase the inductor current ripple. Thus, two-phase non-inverting interleaved buck-boost DC-DC converter is proposed.

The proposed ICM approach is based on the theory of integrated dynamic modeling of continuous conduction mode (CCM), discontinuous conduction mode and synchronizing parallel operation mode. In addition, it involves the output voltage controller with inner current loop (inductor current controller) to make a fair balancing between two stages. To ensure fast transient performance, proposed digital ICM is implemented based on a TMS320F28335 digital signal microprocessor.

The results verify the effectiveness of the proposed ICM algorithm to achieve high voltage regulating (under 0.01 per cent), very low inductor current ripple (for boost is 1.96 per cent, for buck is 1.1) and fair input current balance between two stages (unbalancing current less than 0.5A).

The proposed new ICM design procedure is developed satisfactorily to ensure fast transient response even under high load variation and the solving R right-half-plane HP zeros of the CCM. In addition, the proposed method can equally divide the input current of stages and stable different parallel operation modes with large input voltage variations.

A new control method is proposed for grid integration of improved hybrid three quasi z source converter (IHTQZSC). The proposed controller provides a constant switching frequency with an improved dynamic response with fewer computations. The proposed constant switching frequency predictive controller (CSF-PC) does not need weighting factors and reduces the complexity of the control circuit.

A single PI controller is intended to control voltage across dc-link by generating the necessary shoot-through duty ratio. The predictive controller produces the modulating signals required to inject the desired grid current. The performance of the proposed controller is validated with MATLAB/Simulink software.

The discrete-time instantaneous model on the grid side in the proposed controller influences the inductor current with minimum ripples. Dynamic response and computational complexity of the converter with the PI controller, finite set model predictive controller (FS-MPC) and the proposed controller are discussed.

The converter belongs to impedance source converters (ISC) family, delivers higher voltage gain in a single-stage power conversion process, extract the energy from the intermittent nature of renewable energy conversion systems. Implementing CSF-PC for ISC is simple, as it has a single PI controller.

Grid integration of high voltage gain IHTQZSC is accomplished with PI, FS-MPC and CSF-PC. Though the FS-MPC exhibits superior dynamic response under input voltage disturbance and grid current variation, total harmonic distortion (THD) in the grid current is high. CSF-PC provides better THD with a good dynamic response with reduced inductor current ripples.

Key challenges in evaluating the performance of a robotic manipulator are disturbances that rise internally and externally. Effects of non-linear disturbances like varying payload and joint friction can adversely affect the tracking performance in a robotic manipulator. This paper aims to discuss motion control of a three-link spatial manipulator using a computed torque observer-based control technique.

The overall motion control problem consists of derivation of kinematic and dynamic model of the manipulator followed by the control design to achieve desired manipulator response. In this study, the manipulator is subjected to uncertain varying load disturbances. The proposed motion controller compensates the effect of the disturbances and guarantees the convergence of tracking error to steady state value.

One major advantage of using observer-based control is positioning accuracy with robustness to parameter uncertainty and fast dynamics response. The performance of the proposed control technique is validated through real-time experiments conducted on the manipulator. The experiment results confirm the superior performance of the control system in achieving perfect tracking.

This paper demonstrates an observer-based control technique over a serial spatial manipulator which can be applied different robotic configurations under the effect of varying disturbances.