In this paper, the energy efficiency of the widespread application of backstepping control to a class of nonlinear motion systems is investigated. A Switched Step Integral Backstepping Control (SSIBC) scheme is introduced to improve immunity to measurement noise and to increase the energy efficiency of conventional backstepping in practice. The SSIBC is realized by switching between two candidate controllers obtained at different steps of the iterative backstepping design process. A bi-state dependent hysteresis rule is developed to supervise stable switching between the different regimes in the presence of noise. The proposed method is experimentally verified on a MIMO twin rotor laboratory helicopter involving coupled nonlinear dynamics, inaccessible states and uncertainties. Experimental results show that in addition to a reduction in power consumption, the SSIBC reduces saturation of the control signal and visible motor jerking in contrast with conventional backstepping. Additional comparisons with a previously proposed optimized decoupling PID controller also show significant improvement in precision achieved with higher energy efficiency. Experimental results obtained with the introduction of an external disturbance into the system also show the robustness of the proposed SSIBC.
COVID-19 has affected all aspects of human life so far. From the outset of the pandemic, preventing the spread of COVID-19 through the observance of health protocols, especially the use of sanitizers and disinfectants was given more attention. Despite the effectiveness of disinfection chemicals in controlling and preventing COVID-19, there are critical concerns about their adverse effects on human health. This study aims to assess the health effects of sanitizers and disinfectants on a global scale. A total of 91,056 participants from 154 countries participated in this cross-sectional study. Information on the use of sanitizers and disinfectants and health was collected using an electronic questionnaire, which was translated into 26 languages via web-based platforms. The findings of this study suggest that detergents, alcohol-based substances, and chlorinated compounds emerged as the most prevalent chemical agents compared to other sanitizers and disinfectants examined. Most frequently reported health issues include skin effects and respiratory effects. The Chi-square test showed a significant association between chlorinated compounds (sodium hypochlorite and per-chlorine) with all possible health effects under investigation (p-value <0.001). Examination of risk factors based on multivariate logistic regression analysis showed that alcohols and alcohols-based materials were associated with skin effects (OR, 1.98; 95%CI, 1.87-2.09), per-chlorine was associated with eye effects (OR, 1.83; 95%CI, 1.74-1.93), and highly likely with itching and throat irritation (OR, 2.00; 95%CI, 1.90-2.11). Furthermore, formaldehyde was associated with a higher prevalence of neurological effects (OR, 2.17; 95%CI, 1.92-2.44). Furthermore, formaldehyde was associated with a higher prevalence of neurological effects (OR, 2.17; 95%CI, 1.92-2.44). The use of sodium hypochlorite and per-chlorine also had a high chance of having respiratory effects. The findings of the current study suggest that health authorities need to implement more awareness programs about the side effects of using sanitizers and disinfectants during viral epidemics especially when they are used or overused.