Rotor Failure Compensation in a Biplane Quadrotor Based on Virtual Deflection

Dalwadi, Nihal; Deb, Dipankar; Ožana, Štěpán

doi:10.3390/drones6070176

Cited by 6 publications

(2 citation statements)

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“…Moreover, the interconnected system architecture induces a cascading failure effect when one component fails, potentially compromising the entire system [28]. Concerning the mechanical part, UAV's continuous use and exposure to harsh operational conditions contribute to the wear-and-tear effect on different mechanical components [29]. A UAV's structural frame and body can lose integrity, posing catastrophic consequences.…”

Section: Introductionmentioning

confidence: 99%

Comprehensive Investigation of Unmanned Aerial Vehicles (UAVs): An In-Depth Analysis of Avionics Systems

Osmani,

Schulz

2024

Sensors

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The evolving technologies regarding Unmanned Aerial Vehicles (UAVs) have led to their extended applicability in diverse domains, including surveillance, commerce, military, and smart electric grid monitoring. Modern UAV avionics enable precise aircraft operations through autonomous navigation, obstacle identification, and collision prevention. The structures of avionics are generally complex, and thorough hierarchies and intricate connections exist in between. For a comprehensive understanding of a UAV design, this paper aims to assess and critically review the purpose-classified electronics hardware inside UAVs, each with the corresponding performance metrics thoroughly analyzed. This review includes an exploration of different algorithms used for data processing, flight control, surveillance, navigation, protection, and communication. Consequently, this paper enriches the knowledge base of UAVs, offering an informative background on various UAV design processes, particularly those related to electric smart grid applications. As a future work recommendation, an actual relevant project is openly discussed.

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Section: Introductionmentioning

confidence: 99%

Comprehensive Investigation of Unmanned Aerial Vehicles (UAVs): An In-Depth Analysis of Avionics Systems

Osmani,

Schulz

2024

Sensors

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“…An NDO-based nonlinear controller is designed to handle partial rotor failures despite wind gusts on the biplane quadrotor with slung load [12]. Further, to cater to a total rotor failure condition, a virtual deflection-based rotor failure compensation strategy is developed [13].…”

Section: Introductionmentioning

confidence: 99%

Dual Observer Based Adaptive Controller for Hybrid Drones

Dalwadi

Deb

Ožana

2023

Drones

Self Cite

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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.

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