Development of a low-cost quadrotor UAV based on ADRC for agricultural remote sensing

Zhang, Songchao; Xue, Xianghui; Chen, Chen; Sun, Zhu; Sun, Tao

doi:10.25165/j.ijabe.20191204.4641

Cited by 18 publications

(9 citation statements)

References 9 publications

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“…Fortunately, as to these issues, some efforts have been tried by scholars, and lots of results were achieved [7]- [9]. Moreover, there are numerous control strategies, such as, Proportional Integral Differential (PID) [10], Active Disturbance Rejection Control (ADRC) [11], Sliding Mode Control (SMC) [12], etc., have been proposed for the control of QUAVs.…”

Section: Introductionmentioning

confidence: 99%

ASMC and ARSMC Cascaded Controller Design for QUAVs With Time-Varying Load and Unknown Disturbances

Weng,

Wei,

et al. 2024

IEEE Access

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In this paper, the cascaded controllers, which combine the adaptive sliding mode control and recursive technique, are presented to control the quadrotor unmanned aerial vehicles with time-varying load and unknown disturbances. In the outer-loop control subsystem, an adaptive sliding mode controller, which includes the adaptive laws estimating the time-varying load and unknown disturbances, is presented to control the position of quadrotor. In the inner-loop control subsystem, an adaptive recursive sliding mode controller, which includes a self-turning law estimating the unknown inner-loop disturbances, is designed to control the attitude of quadrotor. Moreover, a nonsingular terminal sliding mode surface is given to converge the tracking error of attitude angles to zero in a finite time; and an integral sliding mode surface is designed in the adaptive recursive sliding mode controller to improve the attitude control performance of quadrotor. Simultaneously, the adaptive gain adjustment laws are given to estimate those unknown upper bounds of the disturbances in the system. In the end, the efficiency and feasibility of the proposed control method are demonstrated by some computer simulations.INDEX TERMS Unmanned aerial vehicle, time-varying load, trajectory tracking control, adaptive control, unknown disturbance.

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Section: Introductionmentioning

confidence: 99%

ASMC and ARSMC Cascaded Controller Design for QUAVs With Time-Varying Load and Unknown Disturbances

Weng,

Wei,

et al. 2024

IEEE Access

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“…In recent years, as the level of agricultural production mechanization has improved, more and more new intelligent agricultural machinery has been used in agriculture, of which the unmanned agricultural aerial system (UAAS) is a typical representative. The UAAS has been used in agriculture for crop protection [18], remote sensing [19], particle fertilizing and seeding [20], etc. For OSR, the UAAS has also been used for Sclerotinia sclerotiorum control and protection, foliar fertilizer spraying, aerial rapeseed seeding, and supplementary pollination [2].…”

Section: Introductionmentioning

confidence: 99%

Effects of Different Pollination Methods on Oilseed Rape (Brassica napus) Plant Growth Traits and Rapeseed Yields

Zhang

Li³

et al. 2022

Plants

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Pollination success is essential for hybrid oilseed rape (OSR, Brassica napus) seed production, and the pollination method has some influences on the OSR plant growth traits. In order to explore the roles of different pollination methods, four pollination methods of “unmanned agricultural aerial system” (UAAS), “natural wind + UAAS” (NW+UAAS), “honeybee” (HB), and “no pollinators” (NP) were set in a hybrid OSR field to investigate their effects on OSR plant traits and rapeseed yields in this study. The control check (CK) area with natural wind (NW) pollination was set as a reference for comparison. The experiments were conducted continuously for 20 days during the OSR plant early to full-bloom stage. The results based on the evaluated OSR plants showed that the growth traits and the rapeseed yields exhibited some differences under different pollination methods. The average plant height under NP pollination was maximum, which was 231.52 cm, while the average plant heights under the other pollination methods exhibited nearly no difference. Except for the HB pollination, the average first-branch heights of the evaluated plants all exceeded 100 cm under the other pollination methods. The average once branch quantity of all the evaluated plants under different pollination methods was 5–7. The average number of effective siliques per plant varied greatly. The average quantity of effective siliques in each OSR plant was about 160 under UAAS, NW+UAAS, and NW pollination, about 100 under HB pollination, and only 2.12 under NP pollination. The thousand-rapeseed weight was 7.32 g under HB pollination, which was the highest of all of the pollination areas. In terms of rapeseed yield, the average rapeseed yields per plant were all more than 10 g, except for the one under NP pollination; the yield per hectare was highest under NW+UAAS pollination, reaching 4741.28 kg, and the yield under NP pollination was lowest, which was only 360.39 kg. The research results provide technical support for supplementary pollination in hybrid OSR seed production.

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“…As a new type of agricultural machinery, the unmanned agricultural aerial system (UAAS) has rapidly developed in China [26][27][28]. Due to carrying different airborne mission equipment, the UAAS can execute remote sensing [29,30], aerial spraying [31][32][33], particle fertilizing [34], aerial seeding [35], etc. Some researchers have conducted studies on UAAS airflow in the field (with crop leaf effect), and correspondingly, the results of supplementary pollination show that the airflow field, which is downward generated by the rotors of UAAS, can improve crop pollination because the airflow causes canopy disturbance [36,37].…”

Section: Introductionmentioning

confidence: 99%

The Airflow Field Characteristics of the Unmanned Agricultural Aerial System on Oilseed Rape (Brassica napus) Canopy for Supplementary Pollination

Zhang

Cai

Li³

et al. 2021

Agronomy

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Pollination success is essential for hybrid oilseed rape (OSR, Brassica napus) seed production, but traditional pollination methods are not efficient. The unmanned agricultural aerial system (UAAS) has developed rapidly and has been widely used in China. When flying, the wind field generated by the rotors overcomes the UAAS gravity, and it blows and disturbs the crops below, which helps the pollen spread. In order to investigate the distribution law of the three-dimensional (direction x, y, z) airflow field, experiments involving three levels of flight speed (FS) at 4.0, 5.0, and 6.0 m/s, and three levels of flight height (FH) at 1.5, 2.0, and 2.5 m were conducted in the OSR field by using an electric four-rotor UAAS P20. The effects of FS and FH on airflow velocities (, , ) were analyzed. High-speed dynamic camera (HSDC) technology was used to capture the swings of OSR plants under airflow field disturbance. OSR pollen samples were collected during the experiments. The results showed that the airflow field in the direction x was mainly concentrated on the center of the flight path (S3), and the maximum wind velocity of direction x was 8.01 m/s (T1, S3). The direction x airflow field width was distributed almost symmetrically, but the center position shifted easily, due to crosswind. The airflow field in the direction y was distributed on both sides of the center flight path, and the velocity was generally larger, with the maximum at 7.91 m/s (T1, S2). The airflow field in the direction z was distributed irregularly, and the velocity was small. The FH had highly significant impacts on (p < 0.01), and the interaction of FS and FH had significant impacts on (0.01 < p < 0.05), while the FS had no significant impact on (p = 0.70804 > 0.05). The FS, FH, and interaction of FS and FH all had highly significant impacts on (p < 0.01). The swings of the OSR plant captured by the HSDC proved that the UAAS airflow field could effectively blow the OSR plant. The swing amplitude changes showed a positive correlation with airflow velocities () in general. Although the observed OSR plant swung forward and backward repeatedly, there was a law of first forward, and then backward, and forward again at the beginning of each swing. The pollen collected on the sampler verified that the UAAS airflow field could help with pollen spread. The research results provide technical support for UAAS application on supplementary pollination for hybrid OSR seed production.

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Development of a low-cost quadrotor UAV based on ADRC for agricultural remote sensing

Cited by 18 publications

References 9 publications

ASMC and ARSMC Cascaded Controller Design for QUAVs With Time-Varying Load and Unknown Disturbances

ASMC and ARSMC Cascaded Controller Design for QUAVs With Time-Varying Load and Unknown Disturbances

Effects of Different Pollination Methods on Oilseed Rape (Brassica napus) Plant Growth Traits and Rapeseed Yields

The Airflow Field Characteristics of the Unmanned Agricultural Aerial System on Oilseed Rape (Brassica napus) Canopy for Supplementary Pollination

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