Experiment Verification of a Novel Adaptive Robust Altitude Controller for UAVs Subject to Weight Disturbances*
Bildiriler > Tam Metin Bildiri
Yazarlar: Abdulkadir Sehmus Ozgun, Zeki Gul, Serap Demirkol Ozgun, Enver TATLICIOĞLU
2025 11th International Conference on Control, Decision and Information Technologies (CoDIT), , , Uluslararası, Tam Metin Bildiri, ss 1-6
DOI: 10.1109/codit66093.2025.11321832
Özet
This study focuses on the challenges in controlling altitude changes in agricultural UAVs due to dynamic weight changes as a result of spraying. An innovative controller framework is developed to adapt quickly to weight changes, maintaining precise altitude control. The framework uses correction functions based on weight changes and height error, validated through experimental tests on quadcopters and hexacopters. The results demonstrate high performance in mitigating disturbances such as weight changes, wind, gusts, and thus enhance the reliability and effectiveness of UAVs in agriculture, promoting their broader adoption.