Research on Optimization of UAVs Supertorsional Sliding Modules Based on Variable Load Applications

Unmanned logistics is leading the new trend in the development of the logistics industry. Drone delivery possesses the great economic potential for its merits of improving distribution efficiency, relieving traffic congestion, expanding coverage radius, and reducing carbon emissions, but the security of cargo drones is intensively affected by some load variations, which will lead to drone crashes and goods destruction. In this paper, an optimized continuous function is proposed to replace the most popular sign function within the sliding mode algorithm, which is integrated with a super-twist algorithm to reduce the attitude and position buffeting caused by cargo variation. The Z-axis fluctuation range of the drone-cargo joint model is reduced by 10% compared with the classical method in the simulation.