Valve control systems and methods

A sprayer control system for applying an agricultural product, the system comprising:

• a plurality of smart nozzles for mounting along a boom, wherein each of the smart nozzles includes an electronic control unit (ECU), a control valve, and one or more spray nozzles;
• and
• a master node in communication with the ECUs, the master node and ECUs comprising a processing system for regulating the supply of the agricultural product to the plurality of smart nozzles, the processing system comprising:
• processing circuitry;
• and memory, including instructions, which when executed by the processing circuitry, cause the processing circuitry to perform operations including operations to:
• receive a plurality of valve control inputs for a respective control valve of a respective smart nozzle associated with the ECU, wherein the plurality of valve control inputs includes one or more of a processing delay time or a boom yaw measurement;
• dynamically determine an actuation time for the respective control valve based on the plurality of valve control inputs, wherein the dynamic determination of the actuation time includes a dynamic determination of a phase offset for actuating the respective control valve;
• wherein the phase offset is dynamically determined using one or more of the processing delay time or the boom yaw measurement;
• and
• actuate the respective control valve using the dynamically determined actuation time.