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المؤلفDalwadi, Nihal
المؤلفDeb, Dipankar
المؤلفMuyeen, S.M.
تاريخ الإتاحة2023-02-26T08:29:59Z
تاريخ النشر2022
اسم المنشورAin Shams Engineering Journal
المصدرScopus
معرّف المصادر الموحدhttp://dx.doi.org/10.1016/j.asej.2022.101748
معرّف المصادر الموحدhttp://hdl.handle.net/10576/40387
الملخصIn this study, mathematical modeling of biplane quadrotor with slung load is proposed. Performance of the biplane quadrotor is degrade while swinging of the slung load so to compensate it nonlinear observer based backstepping controller is designed that can not only handle the disturbance generated by the slung load but can also capable to tackle partial rotor failure and wind gust. Simulation study carried out by considering slung load swinging (only for quadrotor mode), wind gust, and rotor failure (for all three modes) as the external disturbance and nonlinear observer is design to estimate it. Backstepping control technique is used to design controller for all three modes of biplane quadrotor. Simulation study shows that proposed control scheme is cable to handle the disturbance generated by the different sources in quadrotor biplane. 2022 Faculty of Engineering, Ain Shams University
راعي المشروعThe publication of this article was funded by Qatar National Library.
اللغةen
الناشرAin Shams University
الموضوعBiplane quadrotor
Nonlinear Observer design
Partial Rotor failure
Slung load
Trajectory tracking
Wind gust
العنوانObserver based rotor failure compensation for biplane quadrotor with slung load
النوعArticle
رقم العدد6
رقم المجلد13
dc.accessType Open Access


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