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To address these challenges, this paper proposes a hybrid control technique that combines higher-order integral sliding mode control , fast-terminal sliding mode control, and adaptive law. The objective is to mitigate the effects of variable payload, external disturbances, and uncertainties while maintaining the stability and performance of the UAV during spraying. Initially, a mathematical model is constructed for a coaxial octocopter UAV that is fitted with a spraying tank. This model takes into account the variation in mass and moment of inertia . Then, a two-loop control structure is employed to attain control of both the translational and rotational axis of the UAV. The numerical simulations are performed on a nonlinear model of the agricultural UAV system and compared with neural network based sliding mode control and robust adaptive backstepping control schemes. The robustness of the proposed scheme is tested in wind gusts and sensor measurement error conditions. Finally, hardware-in-loop simulations are performed using the Pixhawk Orange Cube flight controller to validate the real-time capability of the proposed scheme.",[11,12,13,14,15],"Ijaz, Salman","Shi, Yuhao","Khan, Yasir Ali","Khodaverdian, Maria","Javaid, Umair",[17,18,19,20,21],"0000-0003-1483-4754","0000-0002-7956-193X",null,"0000-0003-2482-3573","0000-0002-4263-7849",2024,"https:\u002F\u002Fdoi.org\u002F10.1016\u002Fj.ast.2024.109676","W4403600873","Aerospace Science and Technology",[27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42],"Stability (learning theory)","Pesticide","Agriculture","Control (management)","Control theory (sociology)","Adaptive control","Controller (irrigation)","Control engineering","Agricultural engineering","Engineering","Computer science","Agronomy","Biology","Artificial intelligence","Ecology","Machine 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