This book discusses the dynamics of a tail-sitter quadrotor and biplane quadrotor-type hybrid unmanned aerial vehicles (UAVs) and, based on it, various nonlinear controllers design like backstepping control (BSC), ITSMC (Integral Terminal Sliding Mode Control), and hybrid controller (BSC + ITSMC). It discusses single and multiple observer-based control strategies to handle external disturbances like wind gusts and estimate states. It covers the dynamics of slung load with a biplane quadrotor and a control architecture to handle the effect of partial rotor failure with wind gusts acting on it. An anti-swing control to prevent damage to the slung load and a deflecting surface-based total rotor failure compensation strategy to prevent damage to the biplane quadrotor are also discussed in this book. The monograph will be helpful for undergraduate and post-graduate students as well as researchers in their advanced studies.
Author(s): Nihal Dalwadi, Dipankar Deb, Stepan Ozana
Series: Studies in Systems, Decision and Control, 461
Publisher: Springer
Year: 2023
Language: English
Pages: 187
City: Singapore
Preface
Contents
About the Authors
List of Figures
List of Tables
1 Introduction
1.1 Hybrid Unmanned Aerial Vehicles (UAVs)
1.2 Types of Hybrid UAVs
1.2.1 Tilt-Rotor UAVs
1.2.2 Tilt-Wing UAVs
1.2.3 Rotor-Wing UAVs
1.2.4 Tail-Sitter UAVs
1.3 Propulsion System of Hybrid UAV
1.4 About the Book
References
2 Nonlinear Disturbance Observer-Based Backstepping Control of Tail-Sitter Quadrotors
2.1 Tail-Sitter Quadrotors
2.2 Mathematical Modeling
2.3 Nonlinear Observer Design
2.4 Backstepping Control Design
2.4.1 Quadrotor Mode
2.4.2 Transition Mode
2.4.3 Level-Flight Mode
2.5 Simulation Results
2.5.1 Trajectory Tracking
2.5.2 Quadrotor Mode with External Disturbance
2.6 Conclusions
References
3 Nonlinear Controllers for Hybrid UAV: Biplane Quadrotor
3.1 Hybrid Controller Design
3.2 Mathematical Model of Biplane Quadrotor
3.3 Hybrid Controller Design
3.3.1 Quadrotor Mode
3.3.2 Transition Mode
3.3.3 Flight Mode
3.4 Results and Discussions
3.5 Conclusions
References
4 Adaptive Controller Design for Biplane Quadrotor
4.1 Biplane Quadrotor: Payload Delivery
4.2 Mathematical Model of Biplane Drone
4.3 Controller Design
4.3.1 Quadrotor Mode
4.3.2 Transition Mode
4.3.3 Level-Flight Mode
4.4 Adaptive Backstepping Controller Design
4.5 Results and Discussions
4.5.1 Autonomous Trajectory Tracking
4.5.2 Packet Delivery Scenario Simulation
4.6 Conclusions
References
5 Multi-observer Based Adaptive Controller for Hybrid UAV
5.1 Nonlinear Observers
5.2 Mathematical Model and Control Architecture
5.3 Observer Design
5.4 Controller Design
5.4.1 Backstepping Controller Design
5.4.2 ITSMC Controller Design
5.5 Adaptive Controller Design
5.5.1 Adaptive Backstepping Controller
5.5.2 Adaptive Hybrid Controller Design
5.6 Stability Analysis
5.7 Results and Discussions
5.8 Conclusions
References
6 Partial Rotor Failure Compensation for Biplane Quadrotor with Slung Load
6.1 Rotor Failure in Biplane Quadrotor
6.2 Dynamical Model of a Biplane with Slung Load
6.2.1 Mathematical Modeling of Slung Load
6.2.2 Dynamics of Slung Load
6.2.3 Mathematical Model of Quadrotor Biplane
6.3 Observer-Based Controller Design
6.4 Results and Discussions
6.4.1 Quadrotor and Transition Modes
6.4.2 Fixed-Wing Mode with Disturbance and Partial Rotor Failure
6.5 Conclusions
References
7 Anti-Swing Control Structure for the Biplane Quadrotor with Slung Load
7.1 Quadrotor with Slung Load
7.2 Biplane Quadrotor with Slung Load Dynamics
7.3 Control Architecture
7.3.1 Anti-Swing Controller (ASC) Design
7.3.2 Trajectory Tracking Controller Design
7.4 Results and Discussions
7.4.1 Case 1: 2.9kg Slung Load
7.4.2 Case 2: 5kg Slung Load
7.5 Conclusions
References
8 Deflecting Surface-Based Total Rotor Failure Compensation for Biplane Quadrotor
8.1 Rotor Failures
8.2 Biplane Dynamics and Control Allocation
8.3 Controller Design
8.3.1 Quadrotor Mode
8.3.2 Transition Mode
8.3.3 Fixed Wing Mode
8.4 Results and Discussions
8.5 Conclusions
References
9 Epilogue
