L1 adaptive control of a UAV for aerobiological sampling

Wang Jiang, Vijay Patel, Craig A. Woolsey, Naira Hovakimyan, David Schmale

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Small unmanned air vehicles (UAVs) have been used to collect samples of pollen, plant pathogens, and other biological particles within the earth's surface boundary layer (from about one to fifty meters altitude) and the planetary boundary layer (from about fifty to one thousand meters). These samples provide valuable information concerning the release, transport, and deposition of biological particles, with important implications for food safety and agricultural practices. In some sampling applications, it is essential that the UAV's speed and altitude be precisely regulated, which suggests the use of an autopilot. Because the biological sampling apparatus may dramatically alter the UAV's flying qualities, however, the autopilot must be robust to large, fast changes in the dynamic model parameters. This paper describes the application of a new adaptive control technique, referred to as L1 adaptive control, which quickly compensates for large changes in the aircraft dynamics, providing an effective platform for aerobiological sampling.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Pages4660-4665
Number of pages6
DOIs
StatePublished - Dec 1 2007
Externally publishedYes
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: Jul 9 2007Jul 13 2007

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2007 American Control Conference, ACC
CountryUnited States
CityNew York, NY
Period7/9/077/13/07

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Jiang, W., Patel, V., Woolsey, C. A., Hovakimyan, N., & Schmale, D. (2007). L1 adaptive control of a UAV for aerobiological sampling. In Proceedings of the 2007 American Control Conference, ACC (pp. 4660-4665). [4283121] (Proceedings of the American Control Conference). https://doi.org/10.1109/ACC.2007.4283121