L1 Adaptive Control of a UAV for Aerobiological Sampling
L1 Adaptive Control of a UAV for Aerobiological Sampling
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DOI：
10.1109/acc.2007.4283121
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发表时间：
2007-07
期刊：
影响因子：
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通讯作者：
Jiang Wang;V. Patel;C. Woolsey;N. Hovakimyan;D. Schmale
中科院分区：
文献类型：
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作者：
Jiang Wang;V. Patel;C. Woolsey;N. Hovakimyan;D. Schmale
小型无人驾驶飞行器（UAV）已经被用于收集地球表面边界层（从大约1米到50米的高度）和行星边界层（从大约50米到1000米）内的花粉、植物病原体和其他生物颗粒的样本。这些样品提供了有关生物颗粒释放、运输和沉积的宝贵信息，对食品安全和农业实践具有重要意义。在某些采样应用中，必须精确调节无人机的速度和高度，这就需要使用自动驾驶仪。然而，由于生物采样装置可能显著地改变UAV的飞行品质，因此自动驾驶仪必须对动态模型参数的大的、快速的变化具有鲁棒性。本文介绍了一种新的自适应控制技术的应用，称为L1自适应控制，它可以快速补偿飞机动力学的大的变化，提供了一个有效的平台，空气生物学采样。
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.