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In this paper, a novel hybrid backstepping control algorithm is proposed for a miniature unmanned helicopter with wind gust disturbances and inertial parameter uncertainties, which achieves significant attitude tracking performance. Firstly, the complete nonlinear attitude dynamics model is derived. Secondly, the real-time extended state observer is provided to obtain the wind gust disturbances based...
A fuzzy self-tuning PID controller is proposed for the path following of an unmanned helicopter. Generally, helicopter control system contains two control loops; the inner loop is an attitude controller and the outer loop is a path following controller. This paper adopts conventional PID controller to control attitude whilst fuzzy self-tuning PID controller to achieve the goal of path following. Moreover,...
This paper presents a new algorithm of corridor edge detection in greenhouse scenes with RGB-D sensor. The algorithm tries to tackle the detection problem considering corridor's 3 features, including 3D position, dominant color and binary edges. Firstly, a height interval will be used to collect 3D points for generating a corridor candidate set. Secondly, dominant color abstracting will help to delete...
This paper proposes the experimental study of a novel method of Backstepping Active Disturbance Rejection Controller of helicopter, which estimates and compensates the environmental disturbances and nonlinear aerodynamic forces in real time with little reliance on accurate system model. A reduced-order controller is designed and applied in flight tests. The attitude tracking and disturbance rejection...
This paper proposes a novel wind gust rejection controller for a model helicopter with uncertain parameters. A hybrid of backstepping and active disturbance rejection controller is designed to achieve attitude tracking. The analysis and inclusion of the nature of wind gust disturbances and rotor dynamics yield more practical and reliable disturbance observation. The disturbances are eliminated to...
A frequency identification method of helicopter for flight control design is presented. The overall concept is to extract a complete set of non-parametric input-to-output frequency responses that fully characterizes the coupled helicopter dynamics, partial coherence analysis is used to eliminate the inter-axis coupling, and conduct a nonlinear search for a transfer function model that matches the...
The application of GPS for weed investigation was introduced in this paper. The different scouting approaches for weeds in fields are presented. Two kinds of systems which are included in investigation are analyzed. There are four ways of making field investigation for weed relative information of density and position. The quick assessment is very fast and easy to implement. It works for perennial...
Collecting field soil moisture information is the foundation of auto-irrigation. This paper introduced a soil moisture monitoring wireless sensor network (WSN) and with application background of automatic drip irrigation for cotton field. Firstly, application background was analyzed and application requirements were defined. The system worked together with a drip irrigation system in cotton field...
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