TY - GEN
T1 - L1 adaptive control of a UAV for aerobiological sampling
AU - Jiang, Wang
AU - Patel, Vijay
AU - Woolsey, Craig A.
AU - Hovakimyan, Naira
AU - Schmale, David
N1 - Funding Information:
M. Abdelkafi was supported by a fellowship from the Institut Aulnaysien de Developpement Economique (Aulnay-sous-Bois). The authors would like to thank the IDRIS (lnstitut du Developpement et des Ressources en Informatique Scientifique, CNRS) for computational facilities. We acknowledge Dr. J. M. Victor for his useful help in writing the routines for simulating interbase hydrogen bond interactions. Many thanks to Dr. J. Stepanek (Charles University, Prague) for his unpublished results of the UV absorption spectra obtained from concentrated samples.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
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U2 - 10.1109/ACC.2007.4283121
DO - 10.1109/ACC.2007.4283121
M3 - Conference contribution
AN - SCOPUS:46449116440
SN - 1424409888
SN - 9781424409884
T3 - Proceedings of the American Control Conference
SP - 4660
EP - 4665
BT - Proceedings of the 2007 American Control Conference, ACC
T2 - 2007 American Control Conference, ACC
Y2 - 9 July 2007 through 13 July 2007
ER -