In view of the difficulty in obtaining the membrane bioreactor (MBR) membrane flux in real time, considering the disadvantage of the back propagation (BP) network in predicting MBR membrane flux, such as the local minimum value and poor generalization ability of the model, this article introduces tent chaotic mapping in the standard sparrow search algorithm (SSA), which improves the uniformity of population distribution and the searching ability of the algorithm (used to optimize the key parameters of the BP network). The tent sparrow search algorithm back propagation network (Tent-SSA-BP) membrane fouling prediction model is established to achieve accurate prediction of membrane flux; compared to the BP, genetic algorithm back propagation network (GA-BP), particle swarm optimization back propagation network (PSO-BP), sparrow search algorithm extreme learning machine(SSA-ELM), sparrow search algorithm back propagation network (SSA-BP), and Tent particle swarm optimization back propagation network (Tent–PSO-BP) models, it has unique advantages. Compared with the BP model before improvement, the improved soft sensing model reduces MAPE by 96.76%, RMSE by 99.78% and MAE by 95.61%. The prediction accuracy of the algorithm proposed in this article reaches 97.4%, which is much higher than the 48.52% of BP. It is also higher than other prediction models, and the prediction accuracy has been greatly improved, which has some engineering reference value.

This paper presents a composite disturbance-tolerant control framework for quadrotor unmanned aerial vehicles (UAVs). By constructing an enhanced dynamic model that incorporates parameter uncertainties, external disturbances, and actuator faults and considering the inherent underactuated and highly coupled characteristics of the UAV, a novel robust adaptive sliding mode controller (RASMC) is designed. The controller adopts a hierarchical adaptive mechanism and utilizes a dual-loop composite adaptive law to achieve the online estimation of system parameters and fault information. Using the Lyapunov method, the asymptotic stability of the closed-loop system is rigorously proven. Simulation results demonstrate that, under the combined effects of external disturbances and actuator faults, the RASMC effectively suppresses position errors (<0.05 m) and attitude errors (<0.02 radians), significantly outperforming traditional ADRC and LQR control methods. Further analysis shows that the proposed adaptive law enables the precise online estimation of aerodynamic coefficients and disturbance boundaries during actual flights, with estimation errors controlled within ±10%. Moreover, compared to ADRC and LQR, RASMC reduces the settling time by more than 50% and the tracking overshoot by over 70% while using the ($tanh(·)$) approximation to eliminate chattering. Prototype experiments validate the fact that the method achieves centimeter-level trajectory tracking under real uncertainties, demonstrating the superior performance and robustness of the control framework in complex flight missions.

Accurate fault diagnosis in analog circuits faces significant challenges owing to the inherent complexity of fault data patterns and the limited feature representation capabilities of conventional methodologies. Addressing the limitations of current convolutional neural networks (CNN) in handling heterogeneous fault characteristics, this study presents an efficient channel attention-enhanced multi-input CNN framework (ECA-MI-CNN) with dual-domain feature fusion, demonstrating three key innovations. First, the proposed framework addresses multi-domain feature extraction through parallel CNN branches specifically designed for processing time-domain and frequency-domain features, effectively preserving their distinct characteristic information. Second, the incorporation of an efficient channel attention (ECA) module between convolutional layers enables adaptive feature response recalibration, significantly enhancing discriminative feature learning while maintaining computational efficiency. Third, a hierarchical fusion strategy systematically integrates time-frequency domain features through concatenation and fully connected layer transformations prior to classification. Comprehensive simulation experiments conducted on Butterworth low-pass filters and two-stage quad op-amp dual second-order low-pass filters demonstrate the framework’s superior diagnostic capabilities. Real-world validation on Butterworth low-pass filters further reveals substantial performance advantages over existing methods, establishing an effective solution for complex fault pattern recognition in electronic systems.

Given the strong nonlinearity and large time-varying characteristics of membrane component fouling in the membrane water treatment process, a membrane component-membrane fouling diagnosis method based on the multi-objective jellyfish search adaptive deep belief network (MOJS-ADBN) is proposed. Firstly, the adaptive learning rate is introduced into the unsupervised pre-training phase of DBN to improve the convergence speed of the network. Secondly, the MOJS method is used to replace the gradient-based layer-by-layer weight fine-tuning method in traditional DBN to improve the ability of network feature extraction. At the same time, the convergence of the MOJS-ADBN learning process is proven by constructing the Lyapunov function. Finally, MOJS-ADBN is used in the membrane packaging diagnosis to verify the performance of the model diagnosis. The experimental results show that MOJS-ADBN has a fast convergence speed and a high diagnostic accuracy, and can provide a theoretical basis for membrane fouling diagnosis in the actual operation of membrane water treatment.