Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs
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 contr...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-06-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/10/6/119 |
| _version_ | 1797531454960304128 |
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| author | Nihal Dalwadi Dipankar Deb Mangal Kothari Stepan Ozana |
| author_facet | Nihal Dalwadi Dipankar Deb Mangal Kothari Stepan Ozana |
| author_sort | Nihal Dalwadi |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-10T10:44:03Z |
| format | Article |
| id | doaj.art-8a09150640c74673b279b742c51fd464 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T10:44:03Z |
| publishDate | 2021-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-8a09150640c74673b279b742c51fd4642023-11-21T22:43:13ZengMDPI AGActuators2076-08252021-06-0110611910.3390/act10060119Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVsNihal Dalwadi0Dipankar Deb1Mangal Kothari2Stepan Ozana3Department of Electrical Engineering, Institute of Infrastructure Technology Research and Management (IITRAM), Ahmedabad 380026, IndiaDepartment of Electrical Engineering, Institute of Infrastructure Technology Research and Management (IITRAM), Ahmedabad 380026, IndiaDepartment of Aerospace Engineering, Indian Institute of Technology, Kanpur 380026, IndiaDepartment of Cybernetics and Biomedical Engineering, Faculty of Electrical Engineering and Computer Science, VSB-Technical University of Ostrava, 17. listopadu 2172/15, 708 00 Ostrava-Poruba, Czech RepublicThe 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.https://www.mdpi.com/2076-0825/10/6/119quadrotor tail-sitter UAVnonlinear observerbackstepping controltrajectory-tracking |
| spellingShingle | Nihal Dalwadi Dipankar Deb Mangal Kothari Stepan Ozana Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs Actuators quadrotor tail-sitter UAV nonlinear observer backstepping control trajectory-tracking |
| title | Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs |
| title_full | Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs |
| title_fullStr | Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs |
| title_full_unstemmed | Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs |
| title_short | Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs |
| title_sort | disturbance observer based backstepping control of tail sitter uavs |
| topic | quadrotor tail-sitter UAV nonlinear observer backstepping control trajectory-tracking |
| url | https://www.mdpi.com/2076-0825/10/6/119 |
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