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State convergence belongs to the class of non-passive schemes and offers a complete framework for bilaterally controlling the tele-robotic systems. Contrary to many other schemes, it allows modeling the tele-robotic systems on state space and provides guaranteed performance of their closed loop behavior. In this study, we have used the state convergence scheme to design a bilateral controller for...
Controlling a boost converter having a right-half-plane zero in its transfer function as compared to a buck converter is a difficult task to accomplish. This paper suggests the optimization of the traditional proportional-integral-derivative (PID) control algorithms for the boost converter through the unconstrained nonlinear optimization technique. This reduces the labor for finding out the well-tuned...
This paper presents the design of feedback loop control for the switching converter having non-minimum phase characteristics. As an example, low-input voltage high frequency boost converter operating in continuous conduction mode having a right-half plane zero is considered as a plant. A frequency response based controller is usually not suggested for the non-minimum phase plants. In order to facilitate...
This paper highlights, neural network (NN) based adaptive control using backstepping control technique is proposed for robot manipulator trajectory tracking. Firstly, the vector of current is considered as the control variable for robot manipulator mechanical subsystem by using the adaptive update algorithm of NN and an enclosed control input for the desired vector of current is constructed. So that,...
The graphical user interface (GUI) described in this paper provides a complete procedure for constructing both the analog and digital controllers for switching converters for superior performance. Although the GUI is designed to control switching converters having second-order transfer function, it can equally be applied to all second-order systems. The purpose of this GUI is to facilitate SMPS designers,...
This paper describes the fuzzy logic based robust pole-placement controller for the buck converter working in Continuous Conduction Mode (CCM). The converter operates at a switching frequency of 500 KHz. Pole-placement controller does not show good robustness to the load variations and the change in supply and reference voltages. In order to improve the static and dynamic properties, pole-placement...
In this paper, design and development of a peg placement robot for participating in National Engineering Robotics Contest (NERC) 2009 is presented. The robot needs to place the pre-loaded pegs in pigeon holes while navigating through a grid of white reflecting lines. The sensory system of the robot comprises of infrared sensors for line following and peg placement tasks. Twelve infrared sensors are...
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