Description
This book discusses the dynamics of a tail-sitter quadrotor and biplane quadrotor-type hybrid unmanned aerial vehicles (UAVs) and, based on it, various nonlinear controllers design like backstepping control (BSC), ITSMC (Integral Terminal Sliding Mode Control), and hybrid controller (BSC + ITSMC). It discusses single and multiple observer-based control strategies to handle external disturbances like wind gusts and estimate states. It covers the dynamics of slung load with a biplane quadrotor and a control architecture to handle the effect of partial rotor failure with wind gusts acting on it. An anti-swing control to prevent damage to the slung load and a deflecting surface-based total rotor failure compensation strategy to prevent damage to the biplane quadrotor are also discussed in this book. The monograph will be helpful for undergraduate and post-graduate students as well as researchers in their advanced studies.
Table of Contents
Chapter 1: Introduction.- Chapter 2: Disturbance Observer-Based Backstepping Control of Tail-sitter UAVs.- Chapter 3: Energy Efficient Bi-Quadrotor Powered by Li-ion Battery for Payload Delivery.- Chapter 4: Adaptive Backstepping Controller Design Of Quadrotor Biplane For Payload Delivery.- Chapter 5: Biplane Trajectory Tracking Using Hybrid Controller Based On Backstepping And Integral Terminal Sliding Mode Control.- Chapter 6: Observer Based Rotor Failure Compensation For Biplane Quadrotor With Slung Load.- Chapter 7: Dual Observer Based Adaptive Hybrid Controller For Hybrid UAV.- Chapter 8: Biplane Quadrotor With Total Rotor Failure: A Novel Approach.
