TY - GEN
T1 - The Model Reference Adaptive Control Method for Pesticide Spraying Quadrotor UAVs
AU - Lei, Xusheng
AU - Liao, Shigang
AU - Hao, Yankun
N1 - Publisher Copyright:
© 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2022
Y1 - 2022
N2 - With the consumption of the pesticide, it is hard thing to realize full envelop control for quadrotor unmanned aerial vehicle. The parameter variation model of pesticide are constructed firstly. To deal with multi disturbances and system unmodeled parts, a compound model reference control method composed by the adaptive radial basis neural network and state observer is designed. With the selection of the time-invariant linear reference model, the adaptive radial basis neural network is constructed and optimized online to generate time-varying control coefficients. Moreover, the residuals errors are eliminated by the disturbance observer. The cruise simulation tests with different pesticide consumptions verify the compound model reference control method can deal with disturbance torques effectively, and the change of model parameters has little effect on the control performance.
AB - With the consumption of the pesticide, it is hard thing to realize full envelop control for quadrotor unmanned aerial vehicle. The parameter variation model of pesticide are constructed firstly. To deal with multi disturbances and system unmodeled parts, a compound model reference control method composed by the adaptive radial basis neural network and state observer is designed. With the selection of the time-invariant linear reference model, the adaptive radial basis neural network is constructed and optimized online to generate time-varying control coefficients. Moreover, the residuals errors are eliminated by the disturbance observer. The cruise simulation tests with different pesticide consumptions verify the compound model reference control method can deal with disturbance torques effectively, and the change of model parameters has little effect on the control performance.
KW - Adaptive model reference control
KW - Online training
KW - Pesticide spraying quadrotor unmanned aerial vehicle
KW - Time-varying control coefficients
UR - https://www.scopus.com/pages/publications/85120652219
U2 - 10.1007/978-981-15-8155-7_413
DO - 10.1007/978-981-15-8155-7_413
M3 - 会议稿件
AN - SCOPUS:85120652219
SN - 9789811581540
T3 - Lecture Notes in Electrical Engineering
SP - 5007
EP - 5016
BT - Advances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Yu, Xiang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2020
Y2 - 23 October 2020 through 25 October 2020
ER -