This chapter is based on the trajectory-tracking controller design for the biplane quadrotor by using three different nonlinear control methods: (i) Backstepping Control (BSC), (ii) Integral Terminal Sliding Mode Control (SMC), and (iii) Hybrid control (ITSMC + BSC) where ITSMC and BSC control the position and attitude subsystems, and the criteria for evaluation is the performance in tracking objectives. Simulation results show that the BSC provides a steady-state error during altitude tracking when in-flight mass change occurs. On the other hand, ITSMC and HC controllers can track the desired altitude without steady-state error. Moreover, the HC controller is faster and generates less ITAE (Integral Time Absolute Error). The deployment of hybrid UAVs for payload, surveillance, defense, and agriculture sectors is effective due to their long flight duration and ability to hover [1, 2]. One of the hybrid UAVs is a Biplane quadrotor with no deflecting surface but the ability to fly as a fixed wing and hover as a rotary wing. Different control strategies based on flight regimes [3, 4], mission planning [5], and trajectory planning [6] are developed. For improved performance under external disturbances like wind gusts, multiple control schemes are proposed [7, 8]. Biplane quadrotor switches from quadrotor to fixed-wing mode and vice versa after transitioning, and for the smooth transition, advanced algorithms are developed [6, 8]. The propeller of a biplane quadrotor has either a fixed pitch or a variable-pitch configuration [9].
Nonlinear Controllers for Hybrid UAV: Biplane Quadrotor
Studies in Systems, Decision and Control
24.02.2023
17 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Adaptive Controller Design for Biplane Quadrotor
Springer Verlag | 2023
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