Experiment Verification of a Novel Adaptive Robust Altitude Controller for UAVs Subject to Weight Disturbances*

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.