Adaptive Neural Network Extended State Observer-Based Finite-Time Convergent Sliding Mode Control for a Quad Tiltrotor UAV

Shen, Suiyuan; Xu, Jinfa; Chen, Pei; Xia, Qingyuan

doi:10.1109/taes.2023.3274733

Cited by 6 publications

(2 citation statements)

References 27 publications

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“…In addition, external wind disturbances can interfere with UAV flight. We introduced an external wind perturbation characterized by a wind velocity of v f = 0.5 sin(0.5t) to the three-dimensional inflow affecting the vehicle [34]. The primary variables of the control system are presented in Table 3.…”

Section: Position Mode Control Simulationmentioning

confidence: 99%

Design, Modeling, and Control of a Composite Tilt-Rotor Unmanned Aerial Vehicle

Liang,

Fan,

Wen

et al. 2024

Drones

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Tilt-rotor unmanned aerial vehicles combine the advantages of multirotor and fixed-wing aircraft, offering features like rapid takeoff and landing, extended endurance, and wide flight conditions. This article provides a summary of the design, modeling, and control of a composite tilt-rotor. During modeling process, aerodynamic modeling was performed on the tilting and non-tilting parts based on the subcomponent modeling method, and CFD simulation analysis was conducted on the entire unmanned aerial vehicle to obtain its accurate aerodynamic characteristics. In the process of modeling the motor propeller, the reduction of motor thrust and torque due to forward flow and tilt angle velocity is thoroughly examined, which is usually ignored in most tilt UAV propeller models. In the controller design, this paper proposes a fusion ADRC control strategy suitable for vertical takeoff and landing of this type of tiltrotor. The control system framework is built using Simulink, and the control algorithm’s efficiency has been verified through simulation testing. Through the proposed control scheme, it is possible for the composite tiltrotor unmanned aerial vehicle to smoothly transition between multirotor and fixed-wing flight modes.

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Section: Position Mode Control Simulationmentioning

confidence: 99%

Design, Modeling, and Control of a Composite Tilt-Rotor Unmanned Aerial Vehicle

Liang,

Fan,

Wen

et al. 2024

Drones

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“…Its core idea is to design a trajectory tracking controller to make the agent track the preset trajectory. At present, PID [66], backstepping control [67,68], sliding mode control [68][69][70][71] and model predictive control [72,73] are widely used. PID control is stable and widely used, but the UAVs' formation control requires high accuracy, and there is a time-varying time delay in the system, which is difficult to be effectively controlled.…”

Section: Research On the Development Of Intelligent Grazingmentioning

confidence: 99%

An Intelligent Grazing Development Strategy for Unmanned Animal Husbandry in China

Cao,

Chen,

Zhang

et al. 2023

Drones

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Grazing is the most important and lowest cost means of livestock breeding. Because of the sharp contradiction between the grassland ecosystem and livestock, the grassland ecosystem has tended to degrade in past decades in China; therefore, the ecological balance of the grassland has been seriously damaged. The implementation of grazing prohibition, rotational grazing and the development of a large-scale breeding industry have not only ensured the supply of animal husbandry products, but also promoted the restoration of the grassland ecosystem. For the large-scale breeding industry, the animal welfare of livestock cannot be guaranteed due to the narrow and crowded space, thus, the production of the breeding industry usually has lower competitiveness than grazing. Disorderly grazing leads to grassland ecological crises; however, intelligent grazing can not only ensure animal welfare, but also fully improve the competitiveness of livestock husbandry products. Under the development of urbanization, the workforce engaged in grazing and breeding in pastoral areas is gradually lost. Intelligent grazing breeding methods need to be developed and popularized. This paper focuses on intelligent grazing, reviews grass remote sensing and aerial seeding, wearable monitoring equipment of livestock, UAV monitoring and intelligent grazing robots, and summarizes the development of intelligent grazing elements, exploring the new development direction of automatic grazing management with the grazing robot at this stage.

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