Performance evaluation of RW‐Quadrotor and Bi‐Quadrotor for payload delivery
Abstract Payload delivery is one of the many Unmanned Aerial Vehicle (UAV) applications that save time, energy, and human resources. The present simulation study compares rotary‐wing quadrotors (RW‐Quadrotors) and tail‐sitter biplane quadrotors (Bi‐Quadrotors) under payload delivery conditions that...
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| Format: | Article |
| Language: | English |
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Wiley
2023-11-01
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| Series: | IET Intelligent Transport Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/itr2.12403 |
| _version_ | 1797615833868926976 |
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| author | Nihal Dalwadi Dipankar Deb Stepan Ozana |
| author_facet | Nihal Dalwadi Dipankar Deb Stepan Ozana |
| author_sort | Nihal Dalwadi |
| collection | DOAJ |
| description | Abstract Payload delivery is one of the many Unmanned Aerial Vehicle (UAV) applications that save time, energy, and human resources. The present simulation study compares rotary‐wing quadrotors (RW‐Quadrotors) and tail‐sitter biplane quadrotors (Bi‐Quadrotors) under payload delivery conditions that help to choose the best UAV for the particular mission. A comparative study is performed based on (i) time taken to accomplish the given mission, (ii) trajectory tracking performance, (iii) motor speed throughout the entire flight envelope, and (iv) remains SoC (State of Charge) after the mission. Furthermore, a Backstepping Controller (BSC) and an Adaptive Backstepping Controller (ABSC) are developed for both UAVs to handle mass changes during flight while Genetic Algorithm (GA) is used for the gain optimization. MATLAB Simulink‐based numerical simulation reveals that the Bi‐Quadrotor has a lower average rotor speed than the RW‐Quadrotor. However, the Bi‐Quadrotor's SoC after the mission is higher than the RW‐Quadrotor, and it took less time to accomplish the mission. The ABSC designed for RW‐Quadrotor and Bi‐Quadrotor effectively handles mass change during the mission. However, the BSC controller increases energy consumption for the Bi‐Quadrotor in the presence of wind gusts. |
| first_indexed | 2024-03-11T07:32:34Z |
| format | Article |
| id | doaj.art-132e1a5991fa473fb0e2d2c486fb1830 |
| institution | Directory Open Access Journal |
| issn | 1751-956X 1751-9578 |
| language | English |
| last_indexed | 2024-03-11T07:32:34Z |
| publishDate | 2023-11-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Intelligent Transport Systems |
| spelling | doaj.art-132e1a5991fa473fb0e2d2c486fb18302023-11-17T05:48:56ZengWileyIET Intelligent Transport Systems1751-956X1751-95782023-11-0117112221223610.1049/itr2.12403Performance evaluation of RW‐Quadrotor and Bi‐Quadrotor for payload deliveryNihal Dalwadi0Dipankar Deb1Stepan Ozana2Department of Electrical Engineering Institute of Infrastructure Technology Research and Management Ahmedabad IndiaDepartment of Electrical Engineering Institute of Infrastructure Technology Research and Management Ahmedabad IndiaFaculty of Electrical Engineering and Computer Science Department of Cybernetics and Biomedical Engineering VSB‐Technical University of Ostrava Ostrava‐Poruba Czech Republic (S.O.)Abstract Payload delivery is one of the many Unmanned Aerial Vehicle (UAV) applications that save time, energy, and human resources. The present simulation study compares rotary‐wing quadrotors (RW‐Quadrotors) and tail‐sitter biplane quadrotors (Bi‐Quadrotors) under payload delivery conditions that help to choose the best UAV for the particular mission. A comparative study is performed based on (i) time taken to accomplish the given mission, (ii) trajectory tracking performance, (iii) motor speed throughout the entire flight envelope, and (iv) remains SoC (State of Charge) after the mission. Furthermore, a Backstepping Controller (BSC) and an Adaptive Backstepping Controller (ABSC) are developed for both UAVs to handle mass changes during flight while Genetic Algorithm (GA) is used for the gain optimization. MATLAB Simulink‐based numerical simulation reveals that the Bi‐Quadrotor has a lower average rotor speed than the RW‐Quadrotor. However, the Bi‐Quadrotor's SoC after the mission is higher than the RW‐Quadrotor, and it took less time to accomplish the mission. The ABSC designed for RW‐Quadrotor and Bi‐Quadrotor effectively handles mass change during the mission. However, the BSC controller increases energy consumption for the Bi‐Quadrotor in the presence of wind gusts.https://doi.org/10.1049/itr2.12403control engineering computingintelligent sensorsInternet of Thingspath planning |
| spellingShingle | Nihal Dalwadi Dipankar Deb Stepan Ozana Performance evaluation of RW‐Quadrotor and Bi‐Quadrotor for payload delivery IET Intelligent Transport Systems control engineering computing intelligent sensors Internet of Things path planning |
| title | Performance evaluation of RW‐Quadrotor and Bi‐Quadrotor for payload delivery |
| title_full | Performance evaluation of RW‐Quadrotor and Bi‐Quadrotor for payload delivery |
| title_fullStr | Performance evaluation of RW‐Quadrotor and Bi‐Quadrotor for payload delivery |
| title_full_unstemmed | Performance evaluation of RW‐Quadrotor and Bi‐Quadrotor for payload delivery |
| title_short | Performance evaluation of RW‐Quadrotor and Bi‐Quadrotor for payload delivery |
| title_sort | performance evaluation of rw quadrotor and bi quadrotor for payload delivery |
| topic | control engineering computing intelligent sensors Internet of Things path planning |
| url | https://doi.org/10.1049/itr2.12403 |
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