Robust Backstepping Control Applied to UAVs for Pest Recognition in Maize Crops
In this paper, a robust control technique is developed to achieve the quadrotor stabilization against unmodeled matching vanishing dynamics. The synthesis of the proposed robust control is based on the Lyapunov approach and the backstepping method allowing to construct an iterative control algorithm...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-09-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/12/18/9075 |
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| author | Liliam Rodríguez-Guerrero Alejandro Benítez-Morales Omar-Jacobo Santos-Sánchez Orlando García-Pérez Hugo Romero-Trejo Mario-Oscar Ordaz-Oliver Jesús-Patricio Ordaz-Oliver |
| author_facet | Liliam Rodríguez-Guerrero Alejandro Benítez-Morales Omar-Jacobo Santos-Sánchez Orlando García-Pérez Hugo Romero-Trejo Mario-Oscar Ordaz-Oliver Jesús-Patricio Ordaz-Oliver |
| author_sort | Liliam Rodríguez-Guerrero |
| collection | DOAJ |
| description | In this paper, a robust control technique is developed to achieve the quadrotor stabilization against unmodeled matching vanishing dynamics. The synthesis of the proposed robust control is based on the Lyapunov approach and the backstepping method allowing to construct an iterative control algorithm. To compare the performance of the proposed controller, a Proportional Derivative (PD) controller is used to obtain experimental results in an outdoor environment. To compare the closed-loop system responses with both controllers, the Integral Absolute Error is computed and several tests are conducted to calculate the error standard deviation. Ultimately, employing the robust backstepping control approach in pest recognition in maize crops, which is a specific task of precision agriculture, demonstrates its effectiveness in improving the trajectory tracking of the vehicle while it captures images of the crops. |
| first_indexed | 2024-03-10T00:50:24Z |
| format | Article |
| id | doaj.art-e123ccd99bc7406796a7f12f3fdc8e0e |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T00:50:24Z |
| publishDate | 2022-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-e123ccd99bc7406796a7f12f3fdc8e0e2023-11-23T14:52:39ZengMDPI AGApplied Sciences2076-34172022-09-011218907510.3390/app12189075Robust Backstepping Control Applied to UAVs for Pest Recognition in Maize CropsLiliam Rodríguez-Guerrero0Alejandro Benítez-Morales1Omar-Jacobo Santos-Sánchez2Orlando García-Pérez3Hugo Romero-Trejo4Mario-Oscar Ordaz-Oliver5Jesús-Patricio Ordaz-Oliver6Electronic and Control Academic Group, Academic Area of Computation and Electronic, Autonomous University of Hidalgo State (UAEH), Pachuca de Soto 42084, MexicoElectronic and Control Academic Group, Academic Area of Computation and Electronic, Autonomous University of Hidalgo State (UAEH), Pachuca de Soto 42084, MexicoElectronic and Control Academic Group, Academic Area of Computation and Electronic, Autonomous University of Hidalgo State (UAEH), Pachuca de Soto 42084, MexicoElectronic and Control Academic Group, Academic Area of Computation and Electronic, Autonomous University of Hidalgo State (UAEH), Pachuca de Soto 42084, MexicoElectronic and Control Academic Group, Academic Area of Computation and Electronic, Autonomous University of Hidalgo State (UAEH), Pachuca de Soto 42084, MexicoElectronic and Control Academic Group, Academic Area of Computation and Electronic, Autonomous University of Hidalgo State (UAEH), Pachuca de Soto 42084, MexicoElectronic and Control Academic Group, Academic Area of Computation and Electronic, Autonomous University of Hidalgo State (UAEH), Pachuca de Soto 42084, MexicoIn this paper, a robust control technique is developed to achieve the quadrotor stabilization against unmodeled matching vanishing dynamics. The synthesis of the proposed robust control is based on the Lyapunov approach and the backstepping method allowing to construct an iterative control algorithm. To compare the performance of the proposed controller, a Proportional Derivative (PD) controller is used to obtain experimental results in an outdoor environment. To compare the closed-loop system responses with both controllers, the Integral Absolute Error is computed and several tests are conducted to calculate the error standard deviation. Ultimately, employing the robust backstepping control approach in pest recognition in maize crops, which is a specific task of precision agriculture, demonstrates its effectiveness in improving the trajectory tracking of the vehicle while it captures images of the crops.https://www.mdpi.com/2076-3417/12/18/9075outdoor environmentquadrotorrobust backstepping controlvanishing unstructured dynamicsprecision agriculture |
| spellingShingle | Liliam Rodríguez-Guerrero Alejandro Benítez-Morales Omar-Jacobo Santos-Sánchez Orlando García-Pérez Hugo Romero-Trejo Mario-Oscar Ordaz-Oliver Jesús-Patricio Ordaz-Oliver Robust Backstepping Control Applied to UAVs for Pest Recognition in Maize Crops Applied Sciences outdoor environment quadrotor robust backstepping control vanishing unstructured dynamics precision agriculture |
| title | Robust Backstepping Control Applied to UAVs for Pest Recognition in Maize Crops |
| title_full | Robust Backstepping Control Applied to UAVs for Pest Recognition in Maize Crops |
| title_fullStr | Robust Backstepping Control Applied to UAVs for Pest Recognition in Maize Crops |
| title_full_unstemmed | Robust Backstepping Control Applied to UAVs for Pest Recognition in Maize Crops |
| title_short | Robust Backstepping Control Applied to UAVs for Pest Recognition in Maize Crops |
| title_sort | robust backstepping control applied to uavs for pest recognition in maize crops |
| topic | outdoor environment quadrotor robust backstepping control vanishing unstructured dynamics precision agriculture |
| url | https://www.mdpi.com/2076-3417/12/18/9075 |
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