A hybrid UAV, like a biplane quadrotor, has many applications in agriculture, disaster management, and relief operation. In this chapter, we designed a dual observer, (i) an Extended state observer (ESO) for the state approximation and (ii) a Nonlinear Disturbance Observer (DO) for the exterior disturbance estimation. There are three different nonlinear controllers; (i) Backstepping Controller (BSC), (ii) Integral Terminal Sliding Mode Controller (ITSMC), and Hybrid Controller (ITSMC + \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$+$$\end{document} BSC) are designed, and ESO (with and without DO) are applied for the trajectory tracking to evaluate the results. Mass change during the flight despite wind gusts is also handled using the Adaptive Backstepping controller (ABSC) and Adaptive hybrid controller with ESO and DO.


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    Title :

    Multi-observer Based Adaptive Controller for Hybrid UAV


    Additional title:

    Studies in Systems, Decision and Control


    Contributors:


    Publication date :

    2023-02-24


    Size :

    22 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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