The Compound Control Method for Pesticide Spraying Quadrotor UAVs

To realize the high-precision control performance of the nonlinear system with model uncertainties and parameter perturbation, a compound control method is proposed for the pesticide spraying quadrotor unmanned aerial vehicle (UAV). To deal with the influence of pesticide consumption, wind disturbances and disturbance torques, the complementary sliding mode control is used to achieve the robust control of the pesticide spraying quadrotor UAV. Furthermore, an adaptive radial basis function neural network (RBFNN) is proposed to estimate the disturbances and reduce the chattering phenomenon of the complementary sliding mode control. With the Lyapunov theory, the weight matrices of the RBFNN can be updated online. A series of simulations experiments are carried out to validate the effectiveness of the proposed control method.