Quadrotor unmanned aerial vehicles (QUAVs) are widely used in civil and defense applications, yet reliable trajectory tracking remains challenging under external disturbances and limited sensing. Conventional backstepping–sliding mode controllers ensure robustness only by selecting discontinuous gains larger than the disturbance bound, which increases chattering and limits the use of smooth switching functions. This paper addresses these limitations by integrating explicit disturbance compensation into a backstepping–sliding framework through a super-twisting observer (STO). The STO reconstructs matched disturbances acting on the translational and rotational dynamics in real time, and the estimated signals are directly injected into the control law. This approach enables effective disturbance rejection beyond the nominal sliding gain while preserving robustness under smooth control actions. Simulation results under single- and multi-frequency perturbations demonstrate accurate disturbance reconstruction (FIT indices above 95%), improved tracking performance, and a significant reduction in chattering. The proposed strategy provides a robust control solution for QUAVs operating in uncertain environments.

We analyze the mixing properties of a floating stirrer driven electromagnetically in a thin layer of electrolyte, consisting of two free-floating magnets with opposite polarities connected by a rigid coupling. The magnetic rotor is set in circular motion using Lorentz forces created due to the interaction of the magnetic field of the rotor with dc currents actuated in logic sequence. We identify a coherent structure similar to a tripolar vortex whose central vortex rotates in the same direction of the rotor promoting chaotic mixing of the fluid in the laminar regime ($\mathrm{Re}=45$). Dyed water visualization and particle image velocimetry were performed to characterize experimentally the mixing and flow dynamics at the surface of the electrolyte layer. A quasitwo-dimensional numerical simulation based on the immersed boundary method, which incorporates the fluid-solid interaction and reproduces the experimental observations satisfactorily, was carried out. Optimal mixing conditions are determined through the exponential growth of the material interfaces, which are established mainly by varying the distance separating the magnets of the rotor.

Quadrotor unmanned aerial vehicles (QUAVs) exhibit strongly coupled nonlinear dynamics and are highly sensitive to disturbances and measurement noise, which can significantly degrade trajectory tracking performance and induce chattering in sliding mode-based controllers. In this work, a fractional-order backstepping sliding mode control (FO-BSMC) strategy is proposed for QUAV trajectory tracking. In contrast to existing fractional-order sliding mode approaches, where the fractional operator is typically introduced into the sliding surface or control law, the proposed methodology incorporates fractional-order behavior directly into the QUAV dynamic model through the Caputo definition, while the Grünwald–Letnikov approximation is adopted for numerical implementation. A conventional integer-order BSMC scheme is also developed, and Lyapunov-based stability analyses are presented for both the conventional BSMC and the proposed FO-BSMC formulations. The fractional order is selected using the PSO algorithm. The performance of both controllers is evaluated under external disturbances, perturbed initial conditions, and measurement noise. Monte Carlo simulations are further conducted to assess the sensitivity of the closed-loop system to initialization uncertainties. The simulation results demonstrate that the proposed FO-BSMC achieves lower tracking errors, faster convergence, improved robustness against external disturbances and measurement noise, and smoother control actions with reduced chattering than the conventional BSMC.

We describe a device designed and built to obtain the three-component, steady state velocity field in the whole volume occupied by a fluid in motion contained in a cavity with cylindrical walls. The prototype comprises a two-camera stereoscopic particle image velocimetry system mounted on a platform that rotates around the volume under analysis and a slip ring arrangement that transmits data from the rotating sensors to the data storage elements. Sample observations are presented for natural convection in a cylindrical container but other flows can be analyzed.

Heliostats are critical components of solar tower technology and different strategies have been proposed to reduce their costs; among them diminishing their size to reduce wind loads or linking nearby heliostats mechanically, to reduce the overall number of actuators. This document aims to describe the development of a linked array of mini-heliostats which move together in an elevation–Fresnel configuration. This configuration consists of an array of mirrors rotating around linked parallel axes, in a linear Fresnel style with an added elevation mechanism allowing all axes to incline simultaneously in the plane North–South–Zenith; that is equivalent to an array of N linked mini-heliostats moved by only two drives instead of 2N. A detailed analytical study of the Sun-tracking performance of this kind of heliostat arrays was carried out, and an 8-mirror prototype based on optical and mechanical analyses was designed, built and tested. Even though the mirrors are flat, the array produced a rather compact radiative flux distribution on the receiver. The flux distribution is compatible with a slope error of the order of 1 mrad. Peak and mean concentration ratios reached 6.89 and 3.94, respectively.