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With the development of UAVs technology, UAVs power inspection becomes an inevitable trend by the advanced advantages of which can achieve visible working environment. The UAVs platform can be equipped with different equipment for inspection. Subsequently, the system mass and inertia will change with different equipment. Therefore, an adaptive control strategy is proposed for flight stability and trajectory tracking. Furthermore, a parameter estimation based on finite time theory and integral-sliding mode is carried out. At the moment, the Lyapunov theory is introduced to enhance the robustness. Then, the proposed method is compared with the SMC. Finally, the results show that the ASMC has a better performance in trajectory tracking as well as a better stronger robustness in the anti-noise control.

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Adaptive Control of Variable Load Inspection UAVs Based on Finite Time Convergence Criterion

  • 会议论文

  • 发表日期：

    2025年

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  • Yang Fan

摘要

With the development of UAVs technology, UAVs power inspection becomes an inevitable trend by the advanced advantages of which can achieve visible working environment. The UAVs platform can be equipped with different equipment for inspection. Subsequently, the system mass and inertia will change with different equipment. Therefore, an adaptive control strategy is proposed for flight stability and trajectory tracking. Furthermore, a parameter estimation based on finite time theory and integral-sliding mode is carried out. At the moment, the Lyapunov theory is introduced to enhance the robustness. Then, the proposed method is compared with the SMC. Finally, the results show that the ASMC has a better performance in trajectory tracking as well as a better stronger robustness in the anti-noise control.