A single-switch ultra-high voltage DC-DC converter is proposed in this paper. In the introduced structure, a voltage multiplier cell (VMC) and three-winding coupled inductor (CL) are integrated to obtain an ultra-large voltage gain. The input current ripple of the presented configuration is very low due to utilizing an inductor in the input part of the converter which is a very important factor in clean energy applications. The CL leakage inductance energy is successfully recovered, and the main power switch voltage stress is clamped because of using a passive clamp circuit. Therefore, a switch with low os-state resistance can be applied, which declines the conduction losses as well as the cost of the suggested topology. Moreover, the common ground between the input and output of the proposed configuration makes it suitable for many applications such as photovoltaic systems. Some important merits include ultra-high voltage gain, operating in low duty cycles, reduced voltage stress of semiconductors, continuous input current, and high efficiency, which make the introduced converter very suitable for clean energy applications. The operation principle, steady-state analysis, design considerations, and theoretical efficiency analysis of the suggested converter are discussed completely in the paper. Also, the superiority of the proposed converter over recently suggested similar most important DC-DC converters is demonstrated in the comparison study. Finally, the performance and theoretical analysis of the converter are validated with the experimental results at an output voltage of 450 V and an output power of 250 W. K E Y W O R D S continuous input current, coupled inductor, DC-DC converter, high voltage gain, single switch, voltage multiplier cell 1 | INTRODUCTION In recent years, the generation of electricity power mostly belongs to fossil fuels. Nevertheless, searching for alternative clean energy resources like wind energies and solar is remarkably becoming a hot research topic among researchers. The consumption of fossil fuels has several disadvantages that can be overcome by the renewable energy sources

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In this study, a sliding mode controller is designed to control the position tracking of robot manipulator. The proposed control has global asymptotical stability in the presence of structured uncertainties, un-structured uncertainties and un-modelled dynamics of the robot manipulator as well as in motors dynamics. The proposed control structure is designed in such a way that initially, by using inverse dynamic method, it reduces the uncertainties bound and finally, sliding mode control eliminates the influence of the remaining uncertainties in closed-loop system stability. Further, in control input for eliminating undesirable chattering phenomena using the fuzzy logic, an adaptive fuzzy approximator is designed in such way that approximates the uncertainty bounds. Mathematical proof shows that the adaptive fuzzy sliding mode control of a closed-loop system has global asymptotical stability. Since the number of existing fuzzy rules are low in adaptive fuzzy approximator rules base and in single input-single output form, so control input computational load is very low and this order makes the proposed control of practical implementation possible. To evaluate the performance of the proposed controller, a case study on a robot manipulator with two degrees of freedom is implemented. Simulation results show the desired performance of the proposed controller.

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In this paper, an optimal adaptive fuzzy sliding mode controller is presented for a class of nonlinear systems. In the proposed control, in the beginning, the boundaries of parametric uncertainties, disturbances and un-modeled dynamics are reduced using a feedback linearization approach. Next, in order to overcome the remaining uncertainties, a sliding mode controller is designed. Mathematical proof shows that the closed-loop system with the proposed control is globally asymptotically stable. Using sliding mode control causes the undesirable chattering phenomenon to occur in the control input. Next, in order to remove the undesirable chattering phenomenon, an adaptive fuzzy approximator is designed to approximate the maximum boundary of the remaining uncertainties. Another mathematical proof shows that the closed-loop system with the proposed control is globally asymptotically stable in the presence of structured and unstructured uncertainties, and external disturbances. Finally, the self-adaptive modified bat algorithm is used to determine the coefficients of the adaptive fuzzy sliding mode control and the coefficients of the membership functions of the adaptive fuzzy approximator. To investigate the performance of the proposed controller, an inverted pendulum system is used as a case study. Simulation results verify the desirable performance of the optimal adaptive fuzzy sliding mode control.