Dual Observer Based Adaptive Controller for Hybrid Drones

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F23%3A10251702" target="_blank" >RIV/61989100:27240/23:10251702 - isvavai.cz</a>

Result on the web

<a href="https://www.mdpi.com/2504-446X/7/1/48" target="_blank" >https://www.mdpi.com/2504-446X/7/1/48</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/drones7010048" target="_blank" >10.3390/drones7010048</a>

Result language

angličtina

Original language name

Dual Observer Based Adaptive Controller for Hybrid Drones

Original language description

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. (C) 2023 by the authors.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

Project

—

Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Drones

ISSN

2504-446X

e-ISSN

2504-446X

Volume of the periodical

7

Issue of the periodical within the volume

1

Country of publishing house

CH - SWITZERLAND

Number of pages

18

Pages from-to

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UT code for WoS article

000914518700001

EID of the result in the Scopus database

2-s2.0-85146777762