Dual Observer Based Adaptive Controller for Hybrid Drones

被引：7

作者：

Dalwadi, Nihal ^{[1
]}

Deb, Dipankar ^{[1
]}

Ozana, Stepan ^{[2
]}

机构：

[1] Inst Infrastruct Technol Res & Management IITRAM, Dept Elect Engn, Ahmadabad 380026, India

[2] VSB Tech Univ Ostrava, Fac Elect Engn & Comp Sci, Dept Cybernet & Biomed Engn, 17 Listopadu 2172-15, Ostrava 70800, Czech Republic

来源：

DRONES | 2023年 / 7卷 / 01期

关键词：

biplane quadrotor; extended state observer; nonlinear disturbance observer; dual observer; adaptive backstepping controller; integral terminal sliding mode controller; adaptive hybrid controller; SLIDING MODE CONTROL; UNMANNED AERIAL VEHICLE; DISTURBANCE OBSERVER; TRAJECTORY TRACKING; QUADROTOR; DESIGN; FLIGHT; UAV; TRANSITION; SYSTEM;

D O I：

10.3390/drones7010048

中图分类号：

TP7 [遥感技术];

学科分类号：

081102 ; 0816 ; 081602 ; 083002 ; 1404 ;

摘要：

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.

引用

页数：18