ZnO/chitosan nanocomposite was successfully synthesized by in-situ precipitation method. The material was characterized by XRD, FESEM, TEM, FTIR, BET, and TGA. Results show that ZnO/chitosan nanocomposite has spherical shape with the average size of 20–25 nm. BET surface area and the average pore size of ZnO/chitosan nanocomposite are 2.2436 (m2/g) and 12.2 nm, respectively. The material was applied as an adsorbent for congo red removal from aqueous solutions. The congo red adsorption is better described by the Langmuir model (R2=0.996) than by the Freundlich model (R2=0.962). Therefore, it can be presumed that congo red was adsorbed in a single monolayer with the theoretical maximum adsorption capacity of 227.3 (mg/g). This is comparable to other available adsorbents. It can be suggested that ZnO/chitosan nanocomposite could serve as promising adsorbent for congo red in wastewater treatment technology.
This paper deals with the problem of trajectory planning and tracking of a quadcopter system based on the property of differential flatness. Firstly, B-splines characterizations of the flat output allow for optimal trajectory generation subject to waypoints constraints, thrust and angles constraints while minimizing the trajectory length. Secondly, the proposed tracking control strategy combines feedback linearization and nested saturation control via flatness. The control strategy provides bounded inputs (thrust, roll, pitch angles) while ensuring the overall stability of the tracking error dynamics. The control parameters are chosen based on the information of the a priori given reference trajectory. Moreover, conditions for the existence of these parameters are presented. The effectiveness of the trajectory planning and the tracking control design are analyzed and validated through simulation and experiments results over a real nano quadcopter platform, the Crazyflie 2.0.
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