Dual Observer Based Adaptive Controller for Hybrid Drones

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Dual Observer Based Adaptive Controller for Hybrid Drones

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Dual Observer Based Adaptive Controller for Hybrid Drones

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název periodika

Drones

ISSN

2504-446X

e-ISSN

2504-446X

Svazek periodika

7

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

18

Strana od-do

—

Kód UT WoS článku

000914518700001

EID výsledku v databázi Scopus

2-s2.0-85146777762