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Studies in Systems, Decision and Control 461 Nihal Dalwadi Dipankar Deb Stepan Ozana Adaptive Hybrid Control of Quadrotor Drones Studies in Systems, Decision and Control Volume 461 SeriesEditor JanuszKacprzyk,SystemsResearchInstitute,PolishAcademyofSciences, Warsaw,Poland The series “Studies in Systems, Decision and Control” (SSDC) covers both new developments and advances, as well as the state of the art, in the various areas of broadly perceived systems, decision making and control–quickly, up to date and withahighquality.Theintentistocoverthetheory,applications,andperspectives on the state of the art and future developments relevant to systems, decision making, control, complex processes and related areas, as embedded in the fields of engineering, computer science, physics, economics, social and life sciences, as well as the paradigms and methodologies behind them. The series contains monographs, textbooks, lecture notes and edited volumes in systems, decision making and control spanning the areas of Cyber-Physical Systems, Autonomous Systems,SensorNetworks,ControlSystems,EnergySystems,AutomotiveSystems, Biological Systems, Vehicular Networking and Connected Vehicles, Aerospace Systems, Automation, Manufacturing, Smart Grids, Nonlinear Systems, Power Systems, Robotics, Social Systems, Economic Systems and other. Of particular valuetoboththecontributorsandthereadershiparetheshortpublicationtimeframe and the world-wide distribution and exposure which enable both a wide and rapid disseminationofresearchoutput. IndexedbySCOPUS,DBLP,WTIFrankfurteG,zbMATH,SCImago. AllbookspublishedintheseriesaresubmittedforconsiderationinWebofScience. · · Nihal Dalwadi Dipankar Deb Stepan Ozana Adaptive Hybrid Control of Quadrotor Drones NihalDalwadi DipankarDeb DepartmentofElectricalEngineering DepartmentofElectricalEngineering InstituteofInfrastructure,Technology, InstituteofInfrastructure,Technology, ResearchandManagement ResearchandManagement Ahmedabad,Gujarat,India Ahmedabad,Gujarat,India StepanOzana DepartmentofCyberneticsandBiomedical Engineering TechnicalUniversityofOstrava Ostrava-Poruba,CzechRepublic ISSN 2198-4182 ISSN 2198-4190 (electronic) StudiesinSystems,DecisionandControl ISBN 978-981-19-9743-3 ISBN 978-981-19-9744-0 (eBook) https://doi.org/10.1007/978-981-19-9744-0 ©TheEditor(s)(ifapplicable)andTheAuthor(s),underexclusivelicensetoSpringerNature SingaporePteLtd.2023 Thisworkissubjecttocopyright.AllrightsaresolelyandexclusivelylicensedbythePublisher,whether thewholeorpartofthematerialisconcerned,specificallytherightsoftranslation,reprinting,reuse ofillustrations,recitation,broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,and transmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilar ordissimilarmethodologynowknownorhereafterdeveloped. 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The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721, Singapore Preface AUAV(UnmannedAerialVehicle)isbecominganintegralpartofhumanlifebecause ofitsusageineverysectorthatdirectlyandindirectlyaffectsourlife.Forexample, UAVsareusedinagriculture,trafficmonitoring,disastermanagement,ecommerce, defense,etc.UAVscanbedividedintotwopartsbasedontheirdesign,(i)rotary-wing and(ii)fixed-wing.Duetotherapidevaluationinelectronicstechnologyinthelast fewdecades,numeroustypesofhybridUAVshavebeendeveloped,whichcanact asrotary-wingorfixed-wingdependingonthemissionphase.ThesehybridUAVs cantakeoff,hover,andlandlikerotary-wingUAVsandflywithhighvelocitylike fixed-wingUAVsafterperformingthetransitionmaneuver.However,hybridUAVs arehighlynonlinear,complex,coupled,andunder-actuatedsystemsandaredifficult tocontrol. This book focuses on hybrid UAVs called the tail-sitter quadrotor and biplane quadrotor. Tail-sitter quadrotor has only one wing attached to the middle of the quadrotor, while the biplane quadrotor has two wings attached to the quadrotor. Wingsgenerateaerodynamicsduringthefixed-wingmode.ThesehybridUAVshave nodeflectingsurface,makingtheirconstructionsimpleyeteffective.However,the speed difference of the actuators performs the transition maneuver, and the whole bodyrotates,whichpresentssignificantchallengesinthecontrollerdesign. A hybrid UAV is a multi-role UAV that can be used for different missions. A controllerisdesignedinsuchawaythat(a)efficientlytrackstheautonomoustrajec- tory,(b)handlesexternaldisturbances,(c)canadapttotheparameterchangeduring the mission, (d) compensates for a partial or total rotor failure, (e) can track the trajectorywhenaslungloadisattached,and(f)preventstheswingingoftheslung loadandatthesametimeitalsoabletotrackthedesiredtrajectorytracking. Intheinitialphaseofthebook,theclassificationofhybridUAVsontheirdesign, advantagesanddisadvantages,performanceevaluation,propulsionsystem,actuator dynamics, battery model, and electronic speed controller are given briefly. Then the focus is on the different types of nonlinear controller designs of the tail-sitter quadrotorandbiplanequadrotorforautonomoustrajectorytrackingunderdifferent conditionslikewindgusts.Afterthenonlinearcontrollerdesign,thisbookpresents v vi Preface differentadaptivecontrollerdesignswithandwithoutestimationalgorithmstohandle masschangeduringthepayloaddeliverymissionbybiplanequadrotor. And the last portion of this book discusses the partial and total rotor failure compensation for the biplane quadrotor during the mission and the design of the anti-swingcontrollerofthebiplanequadrotorwithslungloadsystemtostabilizethe slungloadalongduringautonomoustrajectorytracking. Ahmedabad,Gujarat,India NihalDalwadi Ahmedabad,Gujarat,India DipankarDeb Ostrava-Poruba,CzechRepublic StepanOzana Contents 1 Introduction ................................................... 1 1.1 HybridUnmannedAerialVehicles(UAVs) ..................... 2 1.2 TypesofHybridUAVs ...................................... 4 1.2.1 Tilt-RotorUAVs ..................................... 5 1.2.2 Tilt-WingUAVs ..................................... 5 1.2.3 Rotor-WingUAVs .................................... 6 1.2.4 Tail-SitterUAVs ..................................... 6 1.3 PropulsionSystemofHybridUAV ............................ 11 1.4 AbouttheBook ............................................ 14 References ..................................................... 15 2 NonlinearDisturbanceObserver-BasedBacksteppingControl ofTail-SitterQuadrotors ........................................ 19 2.1 Tail-SitterQuadrotors ....................................... 19 2.2 MathematicalModeling ..................................... 21 2.3 NonlinearObserverDesign .................................. 23 2.4 BacksteppingControlDesign ................................ 25 2.4.1 QuadrotorMode ..................................... 26 2.4.2 TransitionMode ..................................... 29 2.4.3 Level-FlightMode ................................... 31 2.5 SimulationResults .......................................... 33 2.5.1 TrajectoryTracking .................................. 33 2.5.2 QuadrotorModewithExternalDisturbance .............. 35 2.6 Conclusions ............................................... 40 References ..................................................... 41 3 NonlinearControllersforHybridUAV:BiplaneQuadrotor ........ 43 3.1 HybridControllerDesign .................................... 43 3.2 MathematicalModelofBiplaneQuadrotor ..................... 45 3.3 HybridControllerDesign .................................... 46 3.3.1 QuadrotorMode ..................................... 46 3.3.2 TransitionMode ..................................... 49 vii viii Contents 3.3.3 FlightMode ......................................... 49 3.4 ResultsandDiscussions ..................................... 51 3.5 Conclusions ............................................... 58 References ..................................................... 58 4 AdaptiveControllerDesignforBiplaneQuadrotor ................ 61 4.1 BiplaneQuadrotor:PayloadDelivery .......................... 61 4.2 MathematicalModelofBiplaneDrone ........................ 64 4.3 ControllerDesign .......................................... 66 4.3.1 QuadrotorMode ..................................... 66 4.3.2 TransitionMode ..................................... 68 4.3.3 Level-FlightMode ................................... 69 4.4 AdaptiveBacksteppingControllerDesign ...................... 72 4.5 ResultsandDiscussions ..................................... 76 4.5.1 AutonomousTrajectoryTracking ....................... 76 4.5.2 PacketDeliveryScenarioSimulation .................... 79 4.6 Conclusions ............................................... 84 References ..................................................... 84 5 Multi-observerBasedAdaptiveControllerforHybridUAV ........ 87 5.1 NonlinearObservers ........................................ 87 5.2 MathematicalModelandControlArchitecture .................. 89 5.3 ObserverDesign ........................................... 90 5.4 ControllerDesign .......................................... 92 5.4.1 BacksteppingControllerDesign ........................ 92 5.4.2 ITSMCControllerDesign ............................. 94 5.5 AdaptiveControllerDesign .................................. 95 5.5.1 AdaptiveBacksteppingController ...................... 95 5.5.2 AdaptiveHybridControllerDesign ..................... 97 5.6 StabilityAnalysis ........................................... 99 5.7 ResultsandDiscussions ..................................... 102 5.8 Conclusions ............................................... 105 References ..................................................... 106 6 PartialRotorFailureCompensationforBiplaneQuadrotor withSlungLoad ............................................... 109 6.1 RotorFailureinBiplaneQuadrotor ........................... 109 6.2 DynamicalModelofaBiplanewithSlungLoad ................ 110 6.2.1 MathematicalModelingofSlungLoad .................. 110 6.2.2 DynamicsofSlungLoad .............................. 111 6.2.3 MathematicalModelofQuadrotorBiplane .............. 112 6.3 Observer-BasedControllerDesign ............................ 113 6.4 ResultsandDiscussions ..................................... 118 6.4.1 QuadrotorandTransitionModes ....................... 121 6.4.2 Fixed-WingModewithDisturbanceandPartialRotor Failure ............................................. 125 Contents ix 6.5 Conclusions ............................................... 128 References ..................................................... 128 7 Anti-Swing Control Structure for the Biplane Quadrotor withSlungLoad ............................................... 131 7.1 QuadrotorwithSlungLoad .................................. 131 7.2 BiplaneQuadrotorwithSlungLoadDynamics .................. 133 7.3 ControlArchitecture ........................................ 134 7.3.1 Anti-SwingController(ASC)Design ................... 135 7.3.2 TrajectoryTrackingControllerDesign .................. 137 7.4 ResultsandDiscussions ..................................... 141 7.4.1 Case1:2.9kgSlungLoad ............................ 141 7.4.2 Case2:5kgSlungLoad .............................. 145 7.5 Conclusions ............................................... 149 References ..................................................... 149 8 DeflectingSurface-BasedTotalRotorFailureCompensation forBiplaneQuadrotor .......................................... 153 8.1 RotorFailures .............................................. 153 8.2 BiplaneDynamicsandControlAllocation ..................... 155 8.3 ControllerDesign .......................................... 158 8.3.1 QuadrotorMode ..................................... 158 8.3.2 TransitionMode ..................................... 160 8.3.3 FixedWingMode .................................... 161 8.4 ResultsandDiscussions ..................................... 163 8.5 Conclusions ............................................... 170 References ..................................................... 170 9 Epilogue ....................................................... 173