Finite-Time Robust Flight Control of Logistic Unmanned Aerial Vehicles Using a Time-Delay Estimation Technique Article Swipe
Jinyu Ma
,
Shengdong Yu
,
Wenke Hu
,
Hongyuan Wu
,
Xiaopeng Li
,
Yilong Zheng
,
Junhui Zhang
,
Puhui Chen
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.3390/drones8020058
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.3390/drones8020058
This paper proposes a cascaded dual closed-loop control strategy that incorporates time delay estimation and sliding mode control (SMC) to address the issue of uncertain disturbances in logistic unmanned aerial vehicles (UAVs) caused by ground effects, crosswind disturbances, and payloads. The control strategy comprises a position loop and an attitude loop. The position loop, which functions as the outer loop, employs a proportional–integral–derivative (PID) sliding mode surface to eliminate steady-state error through an integral component. Conversely, the attitude loop, serving as the inner loop, utilizes a fast nonsingular terminal sliding mode approach to achieve finite-time convergence and ensure a quick system response. The time-delay estimation technique is employed for the online estimation and real-time compensation of unknown disturbances, while SMC is used to enhance the robustness of the control system. The combination of time-delay estimation and SMC offers complementary advantages. The stability of the system is proven using Lyapunov theory. Hardware-in-the-loop simulation and flight tests demonstrate that the control law can achieve a smooth and continuous output. The proposed control strategy can be effectively applied in complex scenarios, such as hovering, crash recovery, and high maneuverability flying, with significant practicality in engineering applications.
Related Topics
Concepts
Control theory (sociology)
Robustness (evolution)
Inner loop
PID controller
Lyapunov stability
Sliding mode control
Engineering
Computer science
Control system
Control engineering
Controller (irrigation)
Control (management)
Nonlinear system
Chemistry
Temperature control
Artificial intelligence
Physics
Quantum mechanics
Biology
Biochemistry
Agronomy
Electrical engineering
Gene
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/drones8020058
- https://www.mdpi.com/2504-446X/8/2/58/pdf?version=1707403005
- OA Status
- gold
- Cited By
- 2
- References
- 42
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4391692593
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4391692593Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/drones8020058Digital Object Identifier
- Title
-
Finite-Time Robust Flight Control of Logistic Unmanned Aerial Vehicles Using a Time-Delay Estimation TechniqueWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2024Year of publication
- Publication date
-
2024-02-08Full publication date if available
- Authors
-
Jinyu Ma, Shengdong Yu, Wenke Hu, Hongyuan Wu, Xiaopeng Li, Yilong Zheng, Junhui Zhang, Puhui ChenList of authors in order
- Landing page
-
https://doi.org/10.3390/drones8020058Publisher landing page
- PDF URL
-
https://www.mdpi.com/2504-446X/8/2/58/pdf?version=1707403005Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/2504-446X/8/2/58/pdf?version=1707403005Direct OA link when available
- Concepts
-
Control theory (sociology), Robustness (evolution), Inner loop, PID controller, Lyapunov stability, Sliding mode control, Engineering, Computer science, Control system, Control engineering, Controller (irrigation), Control (management), Nonlinear system, Chemistry, Temperature control, Artificial intelligence, Physics, Quantum mechanics, Biology, Biochemistry, Agronomy, Electrical engineering, GeneTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
2Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2024: 1Per-year citation counts (last 5 years)
- References (count)
-
42Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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