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AuthorDalwadi, N.
AuthorDeb, D.
AuthorMuyeen, S. M.
Available date2022-03-23T08:22:44Z
Publication Date2022
Publication NameIET Intelligent Transport Systems
ResourceScopus
Identifierhttp://dx.doi.org/10.1049/itr2.12171
URIhttp://hdl.handle.net/10576/28898
AbstractPerformance 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. Simulation results show that the backstepping controller effectively tracks the trajectory during the entire flight envelope, including take-off, hovering, the transition phase, level flight mode, and landing. A comparison between Backstepping, Integral Terminal Sliding Mode (ITSMC) and Adaptive Backstepping controllers for payload delivery show that the adaptive backstepping controller effectively tracks the altitude and attitude. ITSMC is capable of tracking the desired trajectory for a change in the mass but has sluggish response. The backstepping controller generates a steady-state error in altitude during the mass change in biplane-quadrotor.
SponsorThe publication of this article was funded by Qatar National Library.
Languageen
PublisherJohn Wiley and Sons Inc
SubjectAltitude control
Controllers
Flight envelopes
Flight simulators
Intelligent systems
Trajectories
Unmanned aerial vehicles (UAV)
Adaptive backstepping
Backstepping controller
Controller designs
Engineering performance
Hybrid design
Quad rotors
Rotary wing
Take off
Technology performance
Trajectory-tracking
Fixed wings
TitleAdaptive backstepping controller design of quadrotor biplane for payload delivery
TypeArticle
dc.accessType Open Access


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