[{"data":1,"prerenderedAt":230},["ShallowReactive",2],{"publication-2024\u002Frobust-adaptive-control-law-design-for-enhanced-stability-of-agriculture-uav-use":3,"publication-members":63},{"_path":4,"_dir":5,"_draft":6,"_partial":6,"_locale":7,"title":8,"description":9,"_hidden":6,"authors":10,"authors_orcid":16,"year":22,"doi":23,"openalex_id":24,"venue":25,"abstract_screenshot":19,"keywords":26,"body":43,"_type":56,"_id":57,"_source":58,"_file":59,"_stem":60,"_extension":61,"locale":62},"\u002Fpublications\u002F2024\u002Frobust-adaptive-control-law-design-for-enhanced-stability-of-agriculture-uav-use","2024",false,"","Robust adaptive control law design for enhanced stability of agriculture UAV used for pesticide spraying","In precision agriculture, such as crop spraying, controlling UAVs presents various challenges such as variable payload, inertial coefficient variation, influence of external disturbances such as wind gusts, and uncertainties associated with the dynamics. To address these challenges, this paper proposes a hybrid control technique that combines higher-order integral sliding mode control , fast-terminal sliding mode control, and adaptive law. The objective is to mitigate the effects of variable payload, external disturbances, and uncertainties while maintaining the stability and performance of the UAV during spraying. Initially, a mathematical model is constructed for a coaxial octocopter UAV that is fitted with a spraying tank. This model takes into account the variation in mass and moment of inertia . Then, a two-loop control structure is employed to attain control of both the translational and rotational axis of the UAV. The numerical simulations are performed on a nonlinear model of the agricultural UAV system and compared with neural network based sliding mode control and robust adaptive backstepping control schemes. The robustness of the proposed scheme is tested in wind gusts and sensor measurement error conditions. Finally, hardware-in-loop simulations are performed using the Pixhawk Orange Cube flight controller to validate the real-time capability of the proposed scheme.",[11,12,13,14,15],"Ijaz, Salman","Shi, Yuhao","Khan, Yasir Ali","Khodaverdian, Maria","Javaid, Umair",[17,18,19,20,21],"0000-0003-1483-4754","0000-0002-7956-193X",null,"0000-0003-2482-3573","0000-0002-4263-7849",2024,"https:\u002F\u002Fdoi.org\u002F10.1016\u002Fj.ast.2024.109676","W4403600873","Aerospace Science and Technology",[27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42],"Stability (learning theory)","Pesticide","Agriculture","Control (management)","Control theory (sociology)","Adaptive control","Controller (irrigation)","Control engineering","Agricultural engineering","Engineering","Computer science","Agronomy","Biology","Artificial intelligence","Ecology","Machine learning",{"type":44,"children":45,"toc":53},"root",[46],{"type":47,"tag":48,"props":49,"children":50},"element","p",{},[51],{"type":52,"value":9},"text",{"title":7,"searchDepth":54,"depth":54,"links":55},2,[],"markdown","content:publications:2024:robust-adaptive-control-law-design-for-enhanced-stability-of-agriculture-uav-use.md","content","publications\u002F2024\u002Frobust-adaptive-control-law-design-for-enhanced-stability-of-agriculture-uav-use.md","publications\u002F2024\u002Frobust-adaptive-control-law-design-for-enhanced-stability-of-agriculture-uav-use","md","en",[64,73,79,89,96,104,116,125,132,139,146,153,160,172,181,192,201,209],{"_path":65,"title":66,"name":67,"role":68,"email":7,"image":69,"category":70,"order":71,"_id":72},"\u002Fmembers\u002Falumni\u002Frui-li","Research Assistant from Oct.,2023 to June.,2024","Rui Li","Research Assistant (Alumni)","\u002Fimages\u002Fdefault.jpg","alumni","17","content:members:alumni:rui-li.md",{"_path":74,"title":75,"name":76,"role":68,"email":7,"image":69,"category":70,"order":77,"_id":78},"\u002Fmembers\u002Falumni\u002Fyuhao-shi","Research Assistant from Feb.,2023 to Nov.,2024","Yuhao Shi","18","content:members:alumni:yuhao-shi.md",{"_path":80,"title":81,"name":82,"role":83,"email":84,"image":85,"category":86,"order":87,"_id":88},"\u002Fmembers\u002Fresearch-assistants\u002Fhang-xu","Research Assistant - B.Sc student in Computer Science","Hang Xu","Research Assistant","hang.xu@nottingham.edu.cn","assets\u002Fhangxu.jpg","research-assistants","14","content:members:research-assistants:hang-xu.md",{"_path":90,"title":83,"name":91,"role":83,"email":92,"image":93,"category":86,"order":94,"_id":95},"\u002Fmembers\u002Fresearch-assistants\u002Fxing-hou","Xing Hou","xing.hou@nottingham.edu.cn","assets\u002Fxinghou.png","15","content:members:research-assistants:xing-hou.md",{"_path":97,"title":98,"name":99,"role":100,"email":101,"image":69,"category":86,"order":102,"_id":103},"\u002Fmembers\u002Fresearch-assistants\u002Fxiuqi-wang","Intern Research Assistant - B.Sc student in Department of Electrical and Electronic Engineering","Xiuqi Wang","Intern Research Assistant","xiuqi.wang@nottingham.edu.cn","16","content:members:research-assistants:xiuqi-wang.md",{"_path":105,"title":106,"name":107,"role":108,"email":109,"scholar":110,"image":111,"category":112,"order":113,"orcid":114,"_id":115},"\u002Fmembers\u002Fresearch-students\u002Ffuhua-jia","PhD Student, Department of Mechanical, Materials and Manufacturing Engineering","Fuhua Jia","PhD Student","Fuhua.JIA@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=Zz2ccJ4AAAAJ&hl","assets\u002Fjiafuhua.png","research-students","09","0009-0002-6693-9371","content:members:research-students:fuhua-jia.md",{"_path":117,"title":118,"name":119,"role":120,"email":121,"image":122,"category":112,"order":123,"_id":124},"\u002Fmembers\u002Fresearch-students\u002Fhao-wang","Master by Research Student, Department of Mechanical, Materials and Manufacturing Engineering","Hao Wang","Master by Research Student","hao.wang@nottingham.edu.cn","assets\u002Fwanghao.png","12","content:members:research-students:hao-wang.md",{"_path":126,"title":106,"name":127,"role":108,"email":128,"image":129,"category":112,"order":130,"_id":131},"\u002Fmembers\u002Fresearch-students\u002Fjunlin-xiao","Junlin Xiao","junlin.xiao@nottingham.edu.cn","assets\u002Fjunlin-xiao.jpg","10","content:members:research-students:junlin-xiao.md",{"_path":133,"title":106,"name":134,"role":108,"email":135,"image":136,"category":112,"order":137,"_id":138},"\u002Fmembers\u002Fresearch-students\u002Fliming-li","Liming Li","Liming.Li@nottingham.edu.cn","assets\u002Fliming-li.jpg","11","content:members:research-students:liming-li.md",{"_path":140,"title":106,"name":141,"role":108,"email":142,"image":143,"category":112,"order":144,"_id":145},"\u002Fmembers\u002Fresearch-students\u002Fmengshen-yang","Mengshen Yang","Mengshen.Yang@nottingham.edu.cn","assets\u002Fyangmengshen.png","07","content:members:research-students:mengshen-yang.md",{"_path":147,"title":118,"name":148,"role":120,"email":149,"image":150,"category":112,"order":151,"_id":152},"\u002Fmembers\u002Fresearch-students\u002Fruoxu-xiao","Ruoxu Xiao","ruoxu.Xiao@nottingham.edu.cn","assets\u002Fruoxuxiao.jpg","13","content:members:research-students:ruoxu-xiao.md",{"_path":154,"title":106,"name":155,"role":108,"email":156,"image":157,"category":112,"order":158,"_id":159},"\u002Fmembers\u002Fresearch-students\u002Ftianyi-chen","Tianyi Chen","Tianyi.Chen@nottingham.edu.cn","assets\u002Fchentianyi.png","08","content:members:research-students:tianyi-chen.md",{"_path":161,"title":162,"name":163,"role":164,"email":165,"scholar":166,"image":167,"category":168,"order":169,"orcid":170,"_id":171},"\u002Fmembers\u002Fstaff\u002Fadam-rushworth","Associate Professor in Materials and Manufacturing, PGCHE","Dr Adam Rushworth","Deputy Director of Control System Lab","Adam.Rushworth@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=XvRnzQYAAAAJ&hl","assets\u002Fadam-rushworth.webp","staff","02","0000-0003-3803-7549","content:members:staff:adam-rushworth.md",{"_path":173,"title":174,"name":175,"role":174,"email":176,"scholar":177,"image":178,"category":168,"order":179,"_id":180},"\u002Fmembers\u002Fstaff\u002Fahmed-abdelwahed","Assistant Professor","Dr Ahmed Nasr Abdelwahed","Ahmed.Abdelwahed@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?hl=zh-CN&user=9cCVF5cAAAAJ","assets\u002Fahmed.webp","06","content:members:staff:ahmed-abdelwahed.md",{"_path":182,"title":183,"name":184,"role":185,"email":186,"scholar":187,"image":188,"category":168,"order":189,"orcid":190,"_id":191},"\u002Fmembers\u002Fstaff\u002Fchiew-foong-kwong","Head of Department of Electrical and Electronic Engineering","Dr Chiew Foong Kwong","Associate Professor, Head of Department","Chiew-Foong.Kwong@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=DiX0phAAAAAJ&hl=zh-CN&oi=ao","assets\u002Fcf.jpg","03","0000-0001-7857-511X","content:members:staff:chiew-foong-kwong.md",{"_path":193,"title":194,"name":195,"role":194,"email":196,"scholar":197,"image":198,"category":168,"order":199,"_id":200},"\u002Fmembers\u002Fstaff\u002Fdonglei-sun","Assistant Professor of Aerospace Aerodynamics","Dr Donglei Sun","Donglei.Sun@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?hl=zh-CN&user=C4EmdWMAAAAJ","assets\u002Fdonglei-sun.webp","05","content:members:staff:donglei-sun.md",{"_path":202,"title":194,"name":203,"role":194,"email":204,"scholar":205,"image":206,"category":168,"order":207,"_id":208},"\u002Fmembers\u002Fstaff\u002Frichard-adjei","Dr Richard Amankwa Adjei","Richard-Amankwa.Adjei@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=TshunUEAAAAJ&hl=zh-CN&oi=ao","assets\u002Frichard.webp","04","content:members:staff:richard-adjei.md",{"_path":210,"title":211,"name":212,"role":213,"email":214,"scholar":215,"orcid":17,"image":216,"category":168,"interests":217,"order":228,"_id":229},"\u002Fmembers\u002Fstaff\u002Fsalman-ijaz","Assistant Professor (Lecturer) in Control of Aerospace Systems","Dr Salman Ijaz","Director of Control System Lab","salman.ijaz@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=77HGe2UAAAAJ&hl","assets\u002Fsalman-ijaz.webp",[218,219,220,221,222,223,224,225,226,227],"Fault tolerant control of aircraft","Linear parameter varying control of nonlinear systems","Fractional order modeling and control of aircraft system","Control allocation Scheme","Integral sliding mode control","Robust control","Aircraft actuation system (dissimilar redundant actuation system)","Aircraft dynamics and control","Unmanned aerial vehicle system","More Electric Aircrafts","01","content:members:staff:salman-ijaz.md",1782613937458]