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This paper presents a new design of an adaptive fuzzy logic control by implementing the leader-follower approach. The principle is to modify the feedback control of non-holonomic Wheeled Mobile Robot (WMR) to be adaptive according to a fuzzy controller in the control loop, in order to adjust the feedback control gains according to the distance error between the reference path and the real position. The trajectory tracking control for a single WMR is extended to the formation control for two WMRs in which the first one is the leader and the second is the follower. Simulation results are presented to demonstrate the effectiveness of the proposed controller.

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In this paper, a synergetic approach based on particle swarm optimization (SC-PSO) technique is proposed for Single-Phase Shunt Active Power Filter (SP-SAPF). Two-loop cascade controller for SP-SAPF has been designed. In the first loop, a PI controller is used to effectively regulate the DC link voltage. In the second one, a synergetic controller is performed in the current compensation control loop. The various adjustable parameters of the studied synergetic controller are tuned by a PSO algorithm. The objective of this adjustment is to get the optimal control parameters for satisfying requirements of power quality and high dynamic responses for SP-SAPF. The effectiveness of the suggested SC-PSO approach has been proved by simulation and experimental tests using MATLAB/Simulink environment and dSPACE 1104 card for several operating conditions. The experimental results demonstrate that the developed SC-PSO approach is very satisfactory and offers a high performance for both transient and steady states.

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