A tail-sitter quadrotor is a hybrid vehicle augmenting rotary- and fixed-wing attributes. It is a simple air vehicle capable of operating in helicopter mode and seamlessly transitioning into fixed-wing mode. This multi-mode capability enhances applicability to different missions—package delivery, off-shore inspection, disaster relief, etc. However, due to the aerodynamic parameters diverging in those modes, a robust controller is needed. This chapter develops a nonlinear disturbance observer-based BSC for a tail-sitter quadrotor and the stability analysis for handling parameter variations and wind gusts. Moreover, a BSC provides decent trajectory tracking with minimal altitude shifts. UAVs are used in all sectors with a high impact on human life to save energy, time, and money for surveillance, exploration, and transportation. Rotary-wing UAVs can hover while fixed-wing UAVs don’t but have higher flight endurance—a hybrid UAV like tail-sitter quadrotor couples both advantages. Hybrid UAVs [1] can accomplish a few missions difficult for rotary-wing or fixed-wing UAVs [2]. The tail-sitter quadrotor is simple as it needs no additional actuators during the transition. Many researchers have developed small-sized tail-sitter UAVs like twin-rotor tail-sitter with elevons [3], twin helicopter rotor tail-sitters [4], quadrotor tail-sitter UAVs [5], and optimal transition strategies [6].
Nonlinear Disturbance Observer-Based Backstepping Control of Tail-Sitter Quadrotors
Studies in Systems, Decision and Control
2023-02-24
24 pages
Article/Chapter (Book)
Electronic Resource
English
Disturbance Observer Based Attitude Controller on SO(3) for Quadrotors
British Library Conference Proceedings | 2022
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