Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs

Dalwadi, Nihal; Deb, Dipankar; Kothari, Mangal; Ožana, Štěpán

doi:10.3390/act10060119

Cited by 23 publications

(14 citation statements)

References 40 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It can be seen from formula (15) that increasing A e can increase T . Therefore, to obtain a good area ratio, when selecting the ducted airfoil, choose an airfoil with a larger relative coordinate difference between the lower airfoil surface (Deng et al , 2020; Dalwadi et al , 2021). After screening and comparison, the symmetrical airfoil of NACA0016 is selected in this paper, and the maximum thickness of 16% is at 29.7% of the chord (Figure 3).…”

Section: Design Of Ducted Rotormentioning

confidence: 99%

Aerodynamic analysis of a logistics UAV wing with compound ducted rotor

Guan

Zeng

2022

AEAT

View full text Add to dashboard Cite

Purpose To solve the problems of short battery life and low transportation safety of logistics drones, this paper aims to propose a design of logistics unmanned aerial vehicles (UAV) wing with a composite ducted rotor, which combines fixed wing and rotary-wing. Design/methodology/approach This UAV adopts tiltable ducted rotor combined with fixed wing, which has the characteristics of fast flight speed, large carrying capacity and long endurance. At the same time, it has the hovering and vertical take-off and landing capabilities of the rotary-wing UAV. In addition, aerodynamic simulation analysis of the composite model with a fixed wing and a ducted rotor was carried out, and the aerodynamic influence of the composite model on the UAV was analyzed under different speeds, fixed wing angles of attack and ducted rotor speeds. Findings The results were as follows: when the speed of the ducted rotor is 2,500 rpm, CL and K both reach maximum values. But when the speed exceeds 3,000 rpm, the lift will decrease; when the angle of attack of the fixed wing is 10° and the rotational speed of the ducted rotor is about 3,000 rpm, the aerodynamic characteristics of the wing are better. Originality/value The novelty of this work comes from a composite wing design of a fixed wing combined with a tiltable ducted rotor applied to the logistics UAVs, and the aerodynamic characteristics of the design wing are analyzed.

show abstract

Section: Design Of Ducted Rotormentioning

confidence: 99%

Aerodynamic analysis of a logistics UAV wing with compound ducted rotor

Guan

Zeng

2022

AEAT

View full text Add to dashboard Cite

show abstract

“…Finally, a varying winglet for a Quadrotor Biplane Tail-sitter (QBiT) to augment the competence within a broad flight envelope is offered [8]. Finally, Dalwadi et al [9] presented BSC with DO for the trajectory tracking of a tail sitter quadrotor, then BSC for trajectory tracking and ABSC for the payload delivery are designed for the biplane quadrotor [10]. At the same time, different nonlinear controllers such as BSC, ITSMC, and HC are developed for the biplane quadrotor for autonomous trajectory tracking [11].…”

Section: Introductionmentioning

confidence: 99%

Dual Observer Based Adaptive Controller for Hybrid Drones

Dalwadi

Deb

Ožana

2023

Drones

Self Cite

View full text Add to dashboard Cite

A biplane quadrotor (hybrid vehicle) benefits from rotary-wing and fixed-wing structures. We design a dual observer-based autonomous trajectory tracking controller for the biplane quadrotor. Extended state observer (ESO) is designed for the state estimation, and based on this estimation, a Backstepping controller (BSC), Integral Terminal Sliding Mode Controller (ITSMC), and Hybrid Controller (HC) that is a combination of ITSMC + BSC are designed for the trajectory tracking. Further, a Nonlinear disturbance observer (DO) is designed and combined with ESO based controller to estimate external disturbances. In this simulation study, These ESO-based controllers with and without DO are applied for trajectory tracking, and results are evaluated. An ESO-based Adaptive Backstepping Controller (ABSC) and Adaptive Hybrid controller (AHC) with DO are designed, and performance is evaluated to handle the mass change during the flight despite wind gusts. Simulation results reveal the effectiveness of ESO-based HC with DO compared to ESO-based BSC and ITSMC with DO. Furthermore, an ESO-based AHC with DO is more efficient than an ESO-based ABSC with DO.

show abstract

“…Luo et al analyze attitude and position control challenges for UAVs with a package linked by a wire and a robust neural network-based backstepping sliding mode control for observing the UAV flight path and chosen attitude with a suspended cable attached [13]. Dalwadi et al [14] propose a nonlinear observer-based backstepping controller for trajectory tracking of tail-sitter UAV in the presence of wind gusts and periodic disturbances. A new control strategy [15] combines the backstepping and the dynamic inversion control methods to control the roll and yaw angle, altitude, and speed of fixed-wing UAVs and disturbance observer to estimate wind gusts.…”

Section: Introductionmentioning

confidence: 99%

“…Dalwadi et al. [14] propose a nonlinear observer‐based backstepping controller for trajectory tracking of tail‐sitter UAV in the presence of wind gusts and periodic disturbances. A new control strategy [15] combines the backstepping and the dynamic inversion control methods to control the roll and yaw angle, altitude, and speed of fixed‐wing UAVs and disturbance observer to estimate wind gusts.…”

Section: Introductionmentioning

confidence: 99%

Adaptive backstepping controller design of quadrotor biplane for payload delivery

Dalwadi

Deb

Muyeen

2022

IET Intelligent Trans Sys

Self Cite

View full text Add to dashboard Cite

Performance of the UAVs for a particular application can be enhanced by hybrid design, where take-off, hover, and landing happen like rotary-wing UAVs, and flies like fixed-wing UAVs. A backstepping controller and an adaptive backstepping controller are designed for trajectory tracking and payload delivery in a medical emergency or medical substance delivery like vaccine delivery in the presence of wind gust. Simulation results show that the backstepping controller effectively tracks the trajectory during the entire flight envelope, including take-off, hovering, the transition phase, level flight mode, and landing. A comparison between Backstepping, Integral Terminal Sliding Mode (ITSMC) and Adaptive Backstepping controllers for payload delivery show that the adaptive backstepping controller effectively tracks the altitude and attitude. ITSMC is capable of tracking the desired trajectory for a change in the mass but has sluggish response. The backstepping controller generates a steady-state error in altitude during the mass change in biplane quadrotor.

show abstract

Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs

Cited by 23 publications

References 40 publications

Aerodynamic analysis of a logistics UAV wing with compound ducted rotor

Aerodynamic analysis of a logistics UAV wing with compound ducted rotor

Dual Observer Based Adaptive Controller for Hybrid Drones

Adaptive backstepping controller design of quadrotor biplane for payload delivery

Contact Info

Product

Resources

About