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 problem for express delivery. A new nonlinear adaptive learning controller that is low-cost and portable to different wheelbase sizes is proposed to adapt to large-angle maneuvers and load changes in UAV delivery missions. The controller consists of a nonlinear variable gain (NLVG) function and an extreme value search (ES) algorithm to reduce overshoot and settling time. Finally%2C simulations were conducted on a quadcopter to verify the effectiveness of the proposed control scheme under two typical collision-free trajectories.?quality=80&w=800)
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