Rotor Failure Compensation in a Biplane Quadrotor Based on Virtual Deflection
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F22%3A10250674" target="_blank" >RIV/61989100:27240/22:10250674 - isvavai.cz</a>
Result on the web
<a href="https://www.mdpi.com/2504-446X/6/7/176" target="_blank" >https://www.mdpi.com/2504-446X/6/7/176</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/drones6070176" target="_blank" >10.3390/drones6070176</a>
Alternative languages
Result language
angličtina
Original language name
Rotor Failure Compensation in a Biplane Quadrotor Based on Virtual Deflection
Original language description
A biplane quadrotor is a hybrid type of UAV that has wide applications such as payload pickup and delivery, surveillance, etc. This simulation study mainly focuses on handling the total rotor failure, and for that, we propose a control architecture that does not only handle rotor failure but is also able to navigate the biplane quadrotor to a safe place for landing. In this structure, after the detection of total rotor failure, the biplane quadrotor will imitate reallocating control signals and then perform the transition maneuver and switch to the fixed-wing mode; control signals are also reallocated. A synthetic jet actuator (SJA) is used as the redundancy that generates the desired virtual deflection to control the pitch angle, while other states are taken care of by the three rotors. The SJA has parametric nonlinearity, and to handle it, an inverse adaptive compensation scheme is applied and a closed-loop stability analysis is performed based on the Lyapunov method for the pitch subsystem. The effectiveness of the proposed control structure is validated using numerical simulation carried out in the MATLAB Simulink.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Drones
ISSN
2504-446X
e-ISSN
2504-446X
Volume of the periodical
6
Issue of the periodical within the volume
7
Country of publishing house
CH - SWITZERLAND
Number of pages
20
Pages from-to
nestrankovano
UT code for WoS article
000832346700001
EID of the result in the Scopus database
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