Adaptive backstepping controller design of quadrotor biplane for payload delivery by Nihal Dalwadi, Dipankar Deb, S. M. Muyeen

“…Abstract Performance of the UAVs for a particular application can be enhanced by hybrid design, where take‐off, hover, and landing happen like rotary‐wing UAVs, and flies like fixed‐wing UAVs. A backstepping controller and an adaptive backstepping controller are designed for trajectory tracking and payload delivery in a medical emergency or medical substance delivery like vaccine delivery in the presence of wind gust. …”
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Biplane Trajectory Tracking Using Hybrid Controller Based on Backstepping and Integral Terminal Sliding Mode Control by Nihal Dalwadi, Dipankar Deb, Jagat Jyoti Rath

“…A biplane quadrotor is a hybrid type of Unmanned Aerial Vehicle (UAV) that has advantages of both fixed-wing and rotary-wing UAVs. In this study, we design controllers using (i) Backstepping Control (BSC), (ii) Integral Terminal Sliding Mode Control (ITSMC), and (iii) Hybrid control (ITSMC + BSC), where the ITSMC controls attitude and BSC controls the altitude subsystems as per the mathematical model of biplane quadrotor. …”
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Disturbance Observer-Based Backstepping Control of Tail-Sitter UAVs by Nihal Dalwadi, Dipankar Deb, Mangal Kothari, Stepan Ozana

“…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. …”
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Rotor Failure Compensation in a Biplane Quadrotor Based on Virtual Deflection by Nihal Dalwadi, Dipankar Deb, Stepan Ozana

“…In this structure, after the detection of total rotor failure, the biplane quadrotor will imitate reallocating control signals and then perform the transition maneuver and switch to the fixed-wing mode; control signals are also reallocated. …”
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Dual Observer Based Adaptive Controller for Hybrid Drones by Nihal Dalwadi, Dipankar Deb, Stepan Ozana

“…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. …”
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