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Output feedback adaptive super twisting sliding mode control for quadrotor UAVs

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Control Theory and Technology 2024年第1期22卷 92-105页

作者： Oscar Salas-Peña Jesus DeLeón-morales susana V.Gutiérrez-Martínez École Centrale de Nantes-LS2N UMR 6004 CNRS44300NantesFrance Facultad de Ingeniería Mecánica y Eléctrica Universidad Autónoma de Nuevo León66451San Nicolás de Los GarzaMexico

In this paper, a sliding mode control with adaptive gain combined with a high-order sliding mode observer to solve the tracking problem for a quadrotor UAV is addressed, in presence of bounded external disturbances and parametric uncertainties. The high order sliding mode observer is designed for estimating the linear and angular speed in order to implement the proposed scheme. Furthermore, a Lyapunov function is introduced to design the controller with the adaptation law, whereas an analysis of finite time convergence towards to zero is provided, where sufficient conditions are obtained. Regarding previous works from literature, one important advantage of proposed strategy is that the gains of control are parameterized in terms of only one adaptive parameter, which reduces the control effort by avoiding gain overestimation. Numerical simulations for tracking control of the quadrotor are given to show the performance of proposed adaptive control–observer scheme.

关键词： Adaptive super twisting controller High-order sliding modes observer UAV

Urban Soils from Non-pavment Streets and PM10 in Air Quality Transboudary Projects in Reynosa,Tamaulipas,Mexico

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Urban Soils from Non-pavment Streets and PM10 in Air Quality...

Intervention for reducing stigma: Assessing the influence of gender and knowledge

2011 2nd International Conference on Biology,Environment and Chemistry（ICBEC 2011）

作者： Rodríguez–Espinosa P.F. morales-García S.S. Victoria susana Villalba Salgado Centro Interdisciplinario de Investigaciones y Estudios sobre Medio Ambiente y Desarrollo (CIIEMAD) Instituto Politécnico Nacional(IPN).Calle 30 de Junio de 1520 Barrio la Laguna TicománDel.Gustavo A.MaderoC.P.07340México D.F.México Escuela Superior de Ingeniería Química e Industrias Extractivas(ESIQIE) Instituto Politécnico Nacional(IPN)UPALM Edificio 7 1er.Piso col. ZacatencoDel.Gustavo A.MaderoC.P.07738México D.F.México

The present work is related to suspended matter in the air（PM10） and the soils from non-paving streets from the border City of Reynosa,Tamaulipas,*** were collected from PM10 and soils from non-paving *** were analyzed in Scanning Electron Microscope（SEM）,Energy Dispersive Spectroscopy（EDS） on the SEM and X-Ray Diffraction（XRD）.The results of the present work established a correlation of the native materials of soils,with a dominion of the crystalline phases of quartz,calcite;with the presence of potash feldspars and calcium and clays of muscovite *** studied mineral phases in the soils were found in the *** minerals detected in soils and PM10 are regionalized,and they depend on the condition of the dominant wind *** present project was technically supported by the program "Air Quality and Street Paving Project"（transboundary project） for the city of Reynosa,Tamaulipas,Mexico（1.7 x106 m2 of hydraulic and asphaltic pavement）,which obtained BECC（Mexico-USA） Certification the 06212006 and 05202008 with ID-470（3.0 x106 m2 of hydraulic and asphaltic pavement）.

关键词： PM10 crystalline phases soils of non-paving streets transboundary project Reynosa Tamaulipas México.

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World Journal of Psychiatry 2013年第2期3卷 18-24页

作者： Francisco Martínez-Zambrano Esther García-morales Mar García-Franco Jose Miguel Raul Villellas Gemma Pascual Otilia Arenas susana Ochoa Psychosocial Rehabilitation Ser-vice El Prat Parc Sanitari Sant Joan de DéuEl Prat de Llobregat08918 BarcelonaSpain Mental Health Center El Prat Parc Sanitari Sant Joan de Déu08918 BarcelonaSpain Psychosocial Rehabilitation Services of Baix Llo-bregat Parc Sanitari Sant Joan de Déu08918 BarcelonaSpain Research and Development Unit Parc Sanitari Sant Joan de Déu08918 BarcelonaSpain

AIM: To evaluate the effectiveness in reducing social stigma of an intervention and to assess the influence of gender and ***: The program consisted in providing information and contact with users of mental health in order to reduce social stigma in the school environment. A total of 62 secondary school students(age 14-16 years) were evaluated with the Opinions on Mental Illness(OMI) questionnaire before and after the intervention. The subscales of the OMI were: authoritarianism, interpersonal etiology, benevolence, restrictiveness and negativism. The analysis was performed over the total sample, separating by gender and knowledge of someone with a mental disorder. t-test for repeated measures was used in the statistical ***: All the OMI subscales showed a significant change after the intervention(P < 0.001), except for benevolence. Women presented significant changes in the subscales of authoritarianism and restrictiveness, while men presented changes in negativism and interpersonal etiology rather than restrictiveness(P < 0.001-0.003). Students that knew someone with a mental disorder presented significant changes in authoritarianism, interpersonal etiology, and negativism(P < 0.001-0.003) and students that do not know anyone with a mental disorder improved in restrictiveness and authoritarianism(P < 0.001-0.001). In all the subscales of the instrument the students improved their perception of mental disorders, reducing their levels of ***: The intervention designed to reduce social stigma was effective, especially in the area of authoritarianism. The whole sample showed improved attitudes towards mental illness, although the areas were different depending on gender and knowledge.

关键词： Mental disorders Stigma Intervention Contact Information Schizophrenia Schools

Effectiveness of an intervention for reducing social stigma towards mental illness in adolescents

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World Journal of Psychiatry 2016年第2期6卷 239-247页

作者： Regina Vila-Badia Francisco Martínez-Zambrano Otilia Arenas Emma Casas-Anguera Esther García-morales Raúl Villellas José Ramón Martín María Belén Pérez-Franco Tamara Valduciel Diana Casellas Mar García-Franco Jose Miguel Joaquim Balsera Gemma Pascual Eugènia Julia susana Ochoa Parc Sanitari Sant Joan de Déu CIBERSAM

AIM: To evaluate the effectiveness of an intervention for reducing social stigma towards mental illness in adolescents. The effect of gender and knowledge of someone with mental illness was measured. METHODS: Two hundred and eighty secondary school students were evaluated using the Community Attitudes towards Mental Illness(CAMI) questionnaire. The schools were randomized and some received the intervention and others acted as the control group. The programme consisted of providing information via a documentary film and of contact with healthcare staff in order to reduce the social stigma within the school environment. RESULTS: The intervention was effective in reducing the CAMI authoritarianism and social restrictiveness subscales. The intervention showed significant changes in girls in terms of authoritarianism and social restrictiveness, while boys only showed significant changes in authoritarianism. Following the intervention, a significant reduction was found in authoritarianism and social restrictiveness in those who knew someone with mental illness, and only in authoritarianism in those who did not know anyone with mental illness. CONCLUSION: The intervention was effective to reduce social stigma towards people with mental illness, especially in the area of authoritarianism. Some differences were found depending on gender and whether or not the subjects knew someone with mental illness.

关键词： Social stigma Adolescent Mental illness Intervention studies Prevention