This paper uses the adaptive dynamic programming (ADP) method to achieve optimal trajectory tracking control for quadrotors. Relying on an established mathematical model of a quadrotor, the approximate optimal trajectory tracking control, which consists of the steady-state control input and the approximate optimal feedback control input, is designed for a nominal system. Considering the compound disturbances in position and attitude dynamic models, disturbance observers are introduced. The estimated values are used to design robust compensation inputs to suppress the effect of the compound disturbances for good trajectory tracking performance. Theoretically, the Lyapunov theorem demonstrates the stability of a closed-loop system. The robustness and effectiveness of the proposed controller are confirmed by the simulation results.

This paper presents a practical study on how to improve the ${\mathscr{H}}_{\infty }$ performance and meet the input–output constraints of the two-degrees-of-freedom (DOF) flexible-joint manipulator system (FJMS) with parameter uncertainties and external disturbances. For this reason, a robust constrained moving-horizon ${\mathscr{H}}_{\infty }$ controller is designed to improve the system ${\mathscr{H}}_{\infty }$ performance while still satisfying the input–output constraints of the uncertain system. First, the uncertain controlled system model of the two-DOF FJMS is established via the Lagrange equation method, Spong’s assumption, and the linear fractional transformation (LFT) technique. Then, the control requirements and input–output constraints of the uncertain system are transformed into the linear matrix inequality (LMI) via the theory of ${\mathscr{H}}_{\infty }$ control and the full-block multiplier technique. Next, the LMI optimization problem refreshed by the current state is addressed at each sample moment with the idea of the moving-horizon control of the model predictive control (MPC), and the calculated gain is implemented to the nonlinear closed-loop system under the state feedback structure. The validity and feasibility of the designed control scheme is finally verified via the results of simulation experiments.

The NaI(TI) detector is highly favored in gamma radiation detection and widely applied in fields such as environmental radiation monitoring, nuclear medicine, and laboratory gamma-ray spectroscopy. Its detection performance determines the results of quantitative gamma-ray detection, making it a crucial indicator in detector design and development. This study employs the Monte Carlo method and utilizes TopMC 1.0 software to establish a NaI(TI) detector model. First, the effects of crystal size, ray energy, cladding thickness, and distance on the detector’s detection efficiency were investigated. Subsequently, the energy resolution and peak-to-total ratio of the detector were simulated and calculated, with comparisons made to experimental values. The results indicate that all three detection efficiencies of the NaI(TI) detector are positively correlated with crystal size and exhibit an initial increase followed by a decrease with rising gamma-ray energy. Both the absolute detection efficiency and full-energy peak detection efficiency first increase and then decrease with increasing cladding thickness, while showing a negative correlation with detection distance. The intrinsic detection efficiency is almost unaffected by cladding thickness and initially rises before declining with increasing detection distance. The simulated values of energy resolution closely match experimental values, improving with higher gamma-ray energy. The deviation between simulated and experimental values for different source peak-to-total ratios remains within 6.25%, verifying the model’s reliability and the accuracy of simulation data. These findings provide valuable references and guidance for optimizing detection performance, conducting source-free efficiency calibration, and structural design of NaI(TI) detectors.