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AuthorDalwadi, Nihal
AuthorDeb, Dipankar
AuthorMuyeen, S.M.
Available date2023-02-26T08:29:59Z
Publication Date2022
Publication NameAin Shams Engineering Journal
ResourceScopus
URIhttp://dx.doi.org/10.1016/j.asej.2022.101748
URIhttp://hdl.handle.net/10576/40387
AbstractIn 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
SponsorThe publication of this article was funded by Qatar National Library.
Languageen
PublisherAin Shams University
SubjectBiplane quadrotor
Nonlinear Observer design
Partial Rotor failure
Slung load
Trajectory tracking
Wind gust
TitleObserver based rotor failure compensation for biplane quadrotor with slung load
TypeArticle
Issue Number6
Volume Number13
dc.accessType Open Access


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