Adaptive Control for UAV Speed Tracking with Multi-Delay Compensation Using Smith Predictor and Fuzzy PID Tuning

This paper addresses challenges in speed tracking control for UAV systems equipped with variable-pitch propellers (VPPs), particularly those arising from communication delays and dynamic environmental disturbances. We propose a hybrid control strategy integrating an enhanced Smith predictor with fuzzy adaptive PID control. The Smith predictor compensates for time delays within the propulsion system, while the fuzzy PID controller dynamically adjusts for variations in UAV dynamics and external disturbances. Our approach incorporates real-time fluctuations in air-to-ground communication, encompassing both line-of-sight (LoS) and non-line-of-sight (NLoS) conditions. Theoretical analysis and numerical simulations validate the proposed architecture, demonstrating enhanced control performance, reduced delay effects, and improved robustness for real-time applications.