INSTITUTIONAL CHANGE IN INDIAN AGRICULTURE
Globalization, privatization and scientific advancements pose new challenges and opportunities for the development of Indian agriculture. The emerging paradigm shifts focus to creation and application of new knowledge for agricultural development and global competitiveness. To facilitate this shift and realize greater economic efficiency, a new set of responsive institutions should emerge. This volume discusses the direction of institutional change in Indian agriculture. The roles of the state, markets and collective actions are examined for evolving the knowledge-intensive agriculture. The contributed papers from a number of leading researchers cover the institutions for R&D, land and water resources, credit, marketing, trade and agro-processing.
Small Farmers, Big Business: Contract Farming and Rural Development
Acknowledgements - Introduction - Frozen Vegetable in Guatemala: Tapping the Small Farmer's Potential - Asparagus in Peru: Expanding the Agricultural Frontier - McCain Foods, Canada: The Political Economy of Monopoly - Mumias and KTDA, Kenya: Public Sector Participation - Commodity Sketches: Mini-cases from Latin America - Conclusions - Policy Implications - References - Index
L1 Adaptive Controller for Attitude Control of Multirotors
In this work we show an application of L1 Adaptive control theory for attitude control of UAVs. We implement the flight control system on a multirotor to show robustness and precise attitude tracking in the presence of modeling uncertainties and environmental disturbances. We choose backstepping control architecture, since the kinematics and dynamics of multirotors in most cases can be written in strict feedback form. We further exploit the fact that the kinematics of the plant, while free of uncertainties, is nonlinear, which makes it highly suitable for dynamic inversion control at each level of backstepping. On the other hand, plant dynamics is uncertain and is affected by environmental disturbances such as wind gusts, unmodeled dynamics etc. Therefore, we consider 3 variants of the control architecture. The first method uses backstepping to determine the moment demand and augments it with the L1 adaptive controller to account for uncertainties and provide robustness with guaranteed transient performance. The second architecture apply the concept of L1 adaptive backstepping to the same problem; and the third architecture uses L1 backstepping for quaternion representation of the system dynamics, which helps to avoid the singularities associated with Euler angles.