Adaptive Hybrid Control of Quadrotor Drones

by Nihal Dalwadi, Dipankar Deb, Stepan Ozana

Overview

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.

Product Details

ISBN-13:	9789811997433
Publisher:	Springer Nature Singapore
Publication date:	03/02/2023
Series:	Studies in Systems, Decision and Control , #461
Edition description:	2023
Pages:	174
Product dimensions:	6.10(w) x 9.25(h) x (d)

About the Author

Nihal Dalwadi was born in Nadiad (Gujarat), in 1992 and is currently pursing Ph. D. in Department of Electrical Engineering from lnstitute of lnfrastructure Technology Research ancl Management (ITRAM), Ahmedabad, lndia. He obtained his Master's degree in Control and Automation from Institute of Technology, Nirma University, Ahmedabad, India and B. Tech in Instrumentation and control engineering from Sardar Vallabhbhai Patel Institute of Technology (SVIT) Vasad, India. His current research interests include Adaptive control, nonlinear control, stability analysis and UAV Navigation and Control design.

Dipankar Deb (M'05—SM'17) is a Senior Member of IEEE and has served a couple of years at IIT Guwahati as an Assistant Professor (AGP 8000) during 2010-2012. He has over 6 years of Industrial experience both in New York (USA) and GE Global Research (Bengaluru) India. From July 2015 to Jan 2019, he has served as an Associate professor, and from Jan 24, 2019, onward he is a Professor in Electrical Engineering at Institute of Infrastructure Technology Research and Management (IITRAM) Ahmedabad. He holds 6 US patents and 1 Indian Patent and has published 44 SCI indexed Journal articles and 40+ International conference papers. He has also authored 11 books with reputed publishers like Springer and Elsevier. He is a Book Series Editor with CRC Press on Control Theory and Applications, and an Associate Editor for IEEE Access. He has also worked extensively in areas such as Adaptive Control, Active flow control, Renewable Energy, Cognitive Robotics and Machine Learning. He is listed in the top 2% of Researchers worldwide for 2020-21 as published by Stanford University.

STEPAN OZANA was born in Bilovec, Czech Republic, 16th May 1977. He studied Electrical Engineering at VSB Technical university of Ostrava where he has got M.Sc. degree in Control and Measurement Engineering (2000) and Ph.D. degree inTechnical Cybernetics (2004). In 2015 he habilitated in Technical Cybernetics and since he works as an Associate Professor at the Department of Cybernetics and Biomedical Engineering, Faculty of Electrical Engineering and Computer Science by VSB-Technical University of Ostrava. At present he gives lectures on Cybernetics and Control systems. His main area of interest and expertise is modeling and simulation of dynamic systems, control theory, automation, design, implementation and deployment of control algorithms using softPLC systems.

Table of Contents

Chapter 1: Introduction.- Chapter 2: Disturbance Observer-Based Backstepping Control of Tail-sitter UAVs.- Chapter 3: Energy Efficient Bi-Quadrotor Powered by Li-ion Battery for Payload Delivery.- Chapter 4: Adaptive Backstepping Controller Design Of Quadrotor Biplane For Payload Delivery.- Chapter 5: Biplane Trajectory Tracking Using Hybrid Controller Based On Backstepping And Integral Terminal Sliding Mode Control.- Chapter 6: Observer Based Rotor Failure Compensation For Biplane Quadrotor With Slung Load.- Chapter 7: Dual Observer Based Adaptive Hybrid Controller For Hybrid UAV.- Chapter 8: Biplane Quadrotor With Total Rotor Failure: A Novel Approach.