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This study introduces a model‐free sliding mode control scheme based on a complementary extended state observer (CESO) for a permanent magnet synchronous motor (PMSM) in cathode copper production. First, an ultra‐local model of the PMSM is proposed. Compared with the existing ultra‐local model, the ultra‐local model proposed in this study divides the disturbances into periodic and aperiodic perturbations. Furthermore, based on the proposed ultra‐local model, a CESO is proposed. Compared to the linear extended state observer (LESO) and the non‐linear extended state observer (NLESO), the proposed CESO combines the advantages of the LESO and the NLESO. The proposed CESO exhibits reduced disturbance estimation errors and greater resilience to significant periodic and minor aperiodic disturbances. By leveraging the ultra‐local model, a novel combined control strategy is devised, utilizing the CESO and a model‐free sliding mode control. The stability of the proposed control scheme has been verified through the Lyapunov stability theorem and the Hurwitz stability criterion. Subsequently, comparative simulations on disturbance rejection are conducted under periodic and aperiodic disturbances, illustrating the efficacy of the proposed control approach. This letter introduces a model‐free sliding mode control approach based on a complementary extended state observer (CESO) for a permanent magnet synchronous motor (PMSM) in cathode copper processing. Initially, an ultra‐local model of the PMSM is developed to differentiate between periodic and aperiodic disturbances. Subsequently, a novel CESO is introduced to accurately estimate periodic and aperiodic perturbations. Leveraging the novel ultra‐local model, a compound control strategy is devised by integrating the CESO with model‐free sliding mode control. Comparative simulations were subsequently conducted to evaluate the disturbance rejection capabilities of the proposed control approach under both periodic and aperiodic perturbations, thereby confirming its efficacy.

This study introduces a paradigm shift in permanent magnet synchronous motor (PMSM) control through the development of hybrid dual fractional-order sliding mode control (HDFOSMC) architecture integrated with evolutionary parameter learning (EPL). Conventional PMSM control frameworks face critical limitations in ultra-precision applications due to their inability to reconcile dynamic agility with steady-state precision under time-varying parameters and compound disturbances. The proposed HDFOSMC framework addresses these challenges via two synergistic innovations: (1) a dual fractional-order sliding manifold that fuses the rapid transient response of non-integer-order differentiation with the small steady-state error capability of dual-integral compensation, and (2) an EPL mechanism enabling real-time adaptation to thermal drift, load mutations, and unmodeled nonlinearities. Validation can be obtained through the comparison of the results on PMSM testbenches, which demonstrate superior performance over traditional fractional-order sliding mode control (FOSMC). By integrating fractional-order theory, sliding mode control theory, and parameter self-tuning theory, this study proposes a novel control framework for PMSM. The developed system achieves high-precision performance under extreme operational uncertainties through this innovative theoretical synthesis and comparative results.

In this paper, a fast fixed-time backstepping control approach is developed for systems with mismatched disturbances. A novel fast fixed-time disturbance observer (FFTDO), which is convergent within fixed time regardless of initial conditions, is designed to efficiently estimate and compensate the disturbances. On the basis of FFTDO, a novel fast fixed-time backstepping control scheme is proposed, which can guarantee fast fixed-time convergence and high steady-state precision. In addition, a novel fixed-time filter is used to circumvent the problem of “explosion and complexity,” and to ensure overall fixed-time convergence. The fixed-time stability of the closed-loop system under the proposed controller is proved by the Lyapunov stability theory. The simulation results are carried out to confirm the feasibility and superiority of the proposed control strategy.

To achieve high-quality control of PMSM with parameter uncertainties, a nonlinear smooth fractional order sliding mode composite control (NSFOSMCC) strategy is designed in this paper. This approach incorporates a novel nonlinear smooth fractional order sliding mode controller, a novel adaptive super-twisting (AST) algorithm, and a modified nonlinear extended state observer (ESO) to achieve enhanced motor performance. To effectively overcome the disadvantages of simplicity and toughness associated with the conventional fractional order sliding mode controller, a novel nonlinear smooth fractional order sliding mode controller is designed. A novel AST technique is introduced to effectively weaken chattering issues. The modified nonlinear ESO is used to estimate the uncertainty parameters of the PMSM. By combining the modified nonlinear ESO with the latest sliding mode controller, a new composite controller called NSFOSMCC strategy is developed for PMSM. The proposed NSFOSMCC strategy, utilizing a combination of “feedforward plus feedback,” is implemented for PMSM with parameter uncertainties. The reliability and stability of the controller are thoroughly established through the utilization of the Lyapunov stability theorem. Furthermore, comparative results show strong evidence supporting the effectiveness of the novel composite control strategy.

This paper introduces a novel model-free fractional-order composite control methodology specifically designed for precision positioning in permanent magnet synchronous motor (PMSM) drives. The proposed framework ingeniously combines a composite control architecture, featuring a super twisting double fractional-order differential sliding mode controller (STDFDSMC) synergistically integrated with a complementary extended state observer (CESO). The STDFDSMC incorporates an innovative fractional-order double differential sliding mode surface, engineered to deliver superior robustness, enhanced flexibility, and accelerated convergence rates, while simultaneously addressing potential singularity issues. The CESO is implemented to achieve precise estimation and compensation of both intrinsic and extrinsic disturbances affecting PMSM drive systems. Through rigorous application of Lyapunov stability theory, we provide a comprehensive theoretical validation of the closed-loop system’s convergence stability under the proposed control paradigm. Extensive comparative analyses with conventional control methodologies are conducted to substantiate the efficacy of our approach. The comparative results conclusively demonstrate that the proposed control method represents a significant advancement in PMSM drive performance optimization, offering substantial improvements over existing control strategies.

This paper studies the fixed-time trajectory tracking control problem of robot manipulators in the presence of uncertain dynamics and external disturbances. First, a novel nonsingular fixed-time sliding mode surface is presented, which can ensure that the convergence time of the suggested surface is bounded regardless of the initial states. Subsequently, a novel fast nonsingular fixed-time sliding mode control (NFNFSMC) is developed so that the closed-loop system is fixed-time convergent to the equilibrium. By applying the proposed NFNFSMC method and the adaptive technique, a novel adaptive nonsingular fixed-time control scheme is proposed, which can guarantee fast fixed-time convergence of the tracking errors to small regions around the origin. With the proposed control method, the lumped disturbance is compensated by the adaptive technique, whose prior information about the upper bound is not needed. The fixed-time stability of the trajectory tracking control under the proposed controller is proved by the Lyapunov stability theory. Finally, corresponding simulations are given to illustrate the validity and superiority of the proposed control approach.

Intersecting disciplines, as an important trend in the development of modern academic research and education, have exerted a profound and positive influence on scientific research activities. Based on control theory and fractional-order theory, this paper presents a novel approach for the speed regulation of a permanent magnet synchronous motor (PMSM) in the presence of uncertainties and external disturbances. The proposed method is a composite control based on a model-free sliding mode and a fractional-order ultra-local model. The model-free sliding mode is a control strategy that utilizes the sliding mode control methodology without explicitly relying on a mathematical model of the system being controlled. The fractional-order ultra-local model is a mathematical representation of a dynamic system that incorporates the concept of fractional-order derivatives. The core of the controller is a new type of fractional-order fast nonsingular terminal sliding mode surface, which ensures high robustness, quick convergence, while preventing singularity. Moreover, a novel fractional-order nonlinear extended state observer is proposed to estimate both internal and external disturbances of the fractional-order ultra-local model. The stability of the system is analyzed using both the Lyapunov stability theory and the Mittag–Leffler stability theory. The analysis confirms the convergence stability of the closed-loop system under the proposed control scheme. The comparison results indicate that the proposed composite control based on the fractional-order ultra-local model is a promising solution for regulating the speed of PMSMs in the presence of uncertainties and disturbances.

Due to the challenges in detecting in situ activity and cultivating the not-yet-cultured, functional assessment and mining of living microbes from nature has typically followed a ‘culture-first’ paradigm. Here, employing phosphate-solubilizing microbes (PSM) as model, we introduce a ‘screen-first’ strategy that is underpinned by a precisely one-cell-resolution, complete workflow of single-cell Raman-activated Sorting and Cultivation (scRACS-Culture). Directly from domestic sewage, individual cells were screened for in-situ organic-phosphate-solubilizing activity via D2O intake rate, sorted by the function via Raman-activated Gravity-driven Encapsulation (RAGE), and then cultivated from precisely one cell. By scRACS-Culture, pure cultures of strong organic PSM including Comamonas spp., Acinetobacter spp., Enterobacter spp. and Citrobacter spp., were derived, whose phosphate-solubilizing activities in situ are 90–200% higher than in pure culture, underscoring the importance of ‘screen-first’ strategy. Moreover, employing scRACS-Seq for post-RACS cells that remain uncultured, we discovered a previously unknown, low-abundance, strong organic-PSM of Cutibacterium spp. that employs secretary metallophosphoesterase (MPP), cell-wall-anchored 5′-nucleotidase (encoded by ushA) and periplasmic-membrane located PstSCAB-PhoU transporter system for efficient solubilization and scavenging of extracellular phosphate in sewage. Therefore, scRACS-Culture and scRACS-Seq provide an in situ function-based, ‘screen-first’ approach for assessing and mining microbes directly from the environment.

As the two types of major impurities in FCC slurry oil (SLO), olefins and sulfur seriously deteriorate the preparation and quality of mesophase pitch or needle coke. The development of a hydrotreatment for SLO to remove olefins and sulfur selectively becomes imperative. This work presents the potentiality of dispersed Mo2C and MoS2 nanoparticles as selective hydrotreating catalysts of SLO. Mo2C was synthesized by the carbonization of citric acid, ammonium molybdate and KCl mixtures while MoS2 was prepared from the decomposition of precursors. These catalysts were characterized by XRD, HRTEM, XPS, BJH, BET, and applied to the hydrotreating of an SLO surrogate with defined components and real SLO. The conversion of olefins, dibenzothiophene and anthracene in the surrogate was detected by GC-MS. Elemental analysis, bromine number, diene value, 1H-NMR and spot test were used to characterize the changes of the real SLO. The results show that hydrotreating the SLO surrogate with a very small amount of Mo-based nanoparticles could selectively remove olefins and sulfur without the overhydrogenation of polyaromatics. Mo2C exhibited much better activity than MoS2, with 95% of olefins and dibenzothiophene in the surrogate removed while only 15% anthracene was hydrogenated. The stability of the real SLO was significantly improved. Its structural parameters changed subtly, proving the aromatic macromolecules had been preserved.

Many aspects of behavior and physiology are under circadian control. In Drosophila, the molecular clock that regulates rhythmic patterns of behavior has been extensively characterized. In contrast, genetic loci involved in linking the clock to alterations in motor activity have remained elusive. In a forward-genetic screen, we uncovered a new component of the circadian output pathway, which we have termed dyschronic (dysc). dysc mutants exhibit arrhythmic locomotor behavior, yet their eclosion rhythms are normal and clock protein cycling remains intact. Intriguingly, dysc is the closest Drosophila homolog of whirlin, a gene linked to type II Usher syndrome, the leading cause of deaf-blindness in humans. Whirlin and other Usher proteins are expressed in the mammalian central nervous system, yet their function in the CNS has not been investigated. We show that DYSC is expressed in major neuronal tracts and regulates expression of the calcium-activated potassium channel SLOWPOKE (SLO), an ion channel also required in the circadian output pathway. SLO and DYSC are co-localized in the brain and control each other's expression post-transcriptionally. Co-immunoprecipitation experiments demonstrate they form a complex, suggesting they regulate each other through protein-protein interaction. Furthermore, electrophysiological recordings of neurons in the adult brain show that SLO-dependent currents are greatly reduced in dysc mutants. Our work identifies a Drosophila homolog of a deaf-blindness gene as a new component of the circadian output pathway and an important regulator of ion channel expression, and suggests novel roles for Usher proteins in the mammalian nervous system.