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Adaptive Dynamic Programming-Based Attitude Optimal Tracking Control for a Quadrotor with Unmeasured Velocities and Model Uncertainties

Abstract

This paper proposes an optimal output feedback tracking control scheme of the quadrotor unmanned aerial vehicle (UAV) attitude system with unmeasured angular velocities and model uncertainties. First, neural network (NN) is used to approximate the model uncertainties. Then, an NN velocity observer is established to estimate the unmeasured angular velocities. Further, a quadrotor output feedback attitude optimal tracking controller is designed, which consists of an adaptive controller designed by backstepping method and an optimal compensation term designed by adaptive dynamic programming. All signals in the closed-loop system are proved to be bounded. Finally, numerical simulation example shows that the quadrotor attitude tracking scheme is effective and feasible.

article Article

date_range 2024

language English

link Link of the paper

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Guo Junrui

Gao Xiaoyang

Li Tieshan

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Featured Keywords

Quadrotor

optimal tracking control

neural network velocity observer

model uncertainties

adaptive dynamic programming

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Assessment of reinforced concrete building damages following the Kahramanmaraş earthquakes in Malatya, Turkey (February 6, 2023)

Abstract

Earthquakes of magnitude Mw = 7.7 and Mw = 7.6 hit the city of Kahramanmaraş (Turkey) on 6 February 2023. These earthquakes caused serious damage in 11 provinces in Turkey resulting in over 50,000 deaths and huge economic losses with the collapse of thousands of buildings. Two consecutive devastating earthquakes have severely damaged the reinforced concrete building stock located in Malatya. There are many reasons reinforced concrete structures suffer damage under the influence of seismic loads. These reasons can be listed as material and section properties that do not comply with earthquake codes, workmanship defects, ground parameters that are not considered and design errors, as seen in field investigations after earthquakes in Turkey in the past. In this research, a field study was conducted on reinforced concrete buildings damaged after the earthquakes in Malatya province. The causes of structural damages in reinforced concrete buildings between 6–26 years of age were assessed in terms of design and material defects. The structural damages were mainly caused due to insufficient stirrups in structural members, short column, strong beam–weak column, failures of infill walls, soft story type collapse, poor concrete quality, and reinforcement corrosion. In addition to the field investigation, the spectrum relationships created using raw acceleration data obtained from DEMP (Disaster and Emergency Management Presidency) stations in Malatya province were compared with the design response spectra.

article Article

date_range 2024

language English

link Link of the paper

Collapsed buildings

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