Observer based rotor failure compensation for biplane quadrotor with slung load
In this study, mathematical modeling of biplane quadrotor with slung load is proposed. Performance of the biplane quadrotor is degrade while swinging of the slung load so to compensate it nonlinear observer based backstepping controller is designed that can not only handle the disturbance generated...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2022-11-01
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| Series: | Ain Shams Engineering Journal |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2090447922000594 |
| _version_ | 1811177630864506880 |
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| author | Nihal Dalwadi Dipankar Deb S.M. Muyeen |
| author_facet | Nihal Dalwadi Dipankar Deb S.M. Muyeen |
| author_sort | Nihal Dalwadi |
| collection | DOAJ |
| description | In this study, mathematical modeling of biplane quadrotor with slung load is proposed. Performance of the biplane quadrotor is degrade while swinging of the slung load so to compensate it nonlinear observer based backstepping controller is designed that can not only handle the disturbance generated by the slung load but can also capable to tackle partial rotor failure and wind gust. Simulation study carried out by considering slung load swinging (only for quadrotor mode), wind gust, and rotor failure (for all three modes) as the external disturbance and nonlinear observer is design to estimate it. Backstepping control technique is used to design controller for all three modes of biplane quadrotor. Simulation study shows that proposed control scheme is cable to handle the disturbance generated by the different sources in quadrotor biplane. |
| first_indexed | 2024-04-11T06:05:31Z |
| format | Article |
| id | doaj.art-b029593a6dad44c69a82f4c124c12429 |
| institution | Directory Open Access Journal |
| issn | 2090-4479 |
| language | English |
| last_indexed | 2024-04-11T06:05:31Z |
| publishDate | 2022-11-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Ain Shams Engineering Journal |
| spelling | doaj.art-b029593a6dad44c69a82f4c124c124292022-12-22T04:41:31ZengElsevierAin Shams Engineering Journal2090-44792022-11-01136101748Observer based rotor failure compensation for biplane quadrotor with slung loadNihal Dalwadi0Dipankar Deb1S.M. Muyeen2Department of Electrical Engineering, Institute of Infrastructure Technology, Research and Management, Ahmedabad 380026, IndiaDepartment of Electrical Engineering, Institute of Infrastructure Technology, Research and Management, Ahmedabad 380026, IndiaDepartment of Electrical Engineering, Qatar University, Doha 2713, Qatar; Corresponding author.In this study, mathematical modeling of biplane quadrotor with slung load is proposed. Performance of the biplane quadrotor is degrade while swinging of the slung load so to compensate it nonlinear observer based backstepping controller is designed that can not only handle the disturbance generated by the slung load but can also capable to tackle partial rotor failure and wind gust. Simulation study carried out by considering slung load swinging (only for quadrotor mode), wind gust, and rotor failure (for all three modes) as the external disturbance and nonlinear observer is design to estimate it. Backstepping control technique is used to design controller for all three modes of biplane quadrotor. Simulation study shows that proposed control scheme is cable to handle the disturbance generated by the different sources in quadrotor biplane.http://www.sciencedirect.com/science/article/pii/S2090447922000594Biplane quadrotorSlung loadNonlinear Observer designPartial Rotor failureWind gustTrajectory tracking |
| spellingShingle | Nihal Dalwadi Dipankar Deb S.M. Muyeen Observer based rotor failure compensation for biplane quadrotor with slung load Ain Shams Engineering Journal Biplane quadrotor Slung load Nonlinear Observer design Partial Rotor failure Wind gust Trajectory tracking |
| title | Observer based rotor failure compensation for biplane quadrotor with slung load |
| title_full | Observer based rotor failure compensation for biplane quadrotor with slung load |
| title_fullStr | Observer based rotor failure compensation for biplane quadrotor with slung load |
| title_full_unstemmed | Observer based rotor failure compensation for biplane quadrotor with slung load |
| title_short | Observer based rotor failure compensation for biplane quadrotor with slung load |
| title_sort | observer based rotor failure compensation for biplane quadrotor with slung load |
| topic | Biplane quadrotor Slung load Nonlinear Observer design Partial Rotor failure Wind gust Trajectory tracking |
| url | http://www.sciencedirect.com/science/article/pii/S2090447922000594 |
| work_keys_str_mv | AT nihaldalwadi observerbasedrotorfailurecompensationforbiplanequadrotorwithslungload AT dipankardeb observerbasedrotorfailurecompensationforbiplanequadrotorwithslungload AT smmuyeen observerbasedrotorfailurecompensationforbiplanequadrotorwithslungload |