Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F21%3A10248077" target="_blank" >RIV/61989100:27240/21:10248077 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.mdpi.com/2076-0825/10/6/119" target="_blank" >https://www.mdpi.com/2076-0825/10/6/119</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/act10060119" target="_blank" >10.3390/act10060119</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs

Popis výsledku v původním jazyce

The application scope of unmanned aerial vehicles (UAVs) is increasing along with commensurate advancements in performance. The hybrid quadrotor vertical takeoff and landing (VTOL) UAV has the benefits of both rotary-wing aircraft and fixed-wing aircraft. However, the vehicle requires a robust controller for takeoff, landing, transition, and hovering modes because the aerodynamic parameters differ in those modes. We consider a nonlinear observer-based backstepping controller in the control design and provide stability analysis for handling parameter variations and external disturbances. We carry out simulations in MATLAB Simulink which show that the nonlinear observer contributes more to robustness and overall closed-loop stability, considering external disturbances in takeoff, hovering and landing phases. The backstepping controller is capable of decent trajectory-tracking during the transition from hovering to level flight and vice versa with nominal altitude drop.

Název v anglickém jazyce

Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs

Popis výsledku anglicky

The application scope of unmanned aerial vehicles (UAVs) is increasing along with commensurate advancements in performance. The hybrid quadrotor vertical takeoff and landing (VTOL) UAV has the benefits of both rotary-wing aircraft and fixed-wing aircraft. However, the vehicle requires a robust controller for takeoff, landing, transition, and hovering modes because the aerodynamic parameters differ in those modes. We consider a nonlinear observer-based backstepping controller in the control design and provide stability analysis for handling parameter variations and external disturbances. We carry out simulations in MATLAB Simulink which show that the nonlinear observer contributes more to robustness and overall closed-loop stability, considering external disturbances in takeoff, hovering and landing phases. The backstepping controller is capable of decent trajectory-tracking during the transition from hovering to level flight and vice versa with nominal altitude drop.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název periodika

Actuators

ISSN

2076-0825

e-ISSN

—

Svazek periodika

10

Číslo periodika v rámci svazku

6

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

24

Strana od-do

—

Kód UT WoS článku

000665406600001

EID výsledku v databázi Scopus

2-s2.0-85108214030