Dual Observer Based Adaptive Controller for Hybrid Drones

A biplane quadrotor (hybrid vehicle) benefits from rotary-wing and fixed-wing structures. We design a dual observer-based autonomous trajectory tracking controller for the quadrotor. Extended state observer (ESO) is designed estimation, based on this Backstepping (BSC), Integral Terminal Sliding Mode Controller (ITSMC), Hybrid (HC) that combination of ITSMC + BSC are tracking. Further, Nonlinear disturbance (DO) combined with ESO to estimate external disturbances. In simulation study, These ESO-based controllers without DO applied tracking, results evaluated. An Adaptive (ABSC) (AHC) designed, performance evaluated handle mass change during flight despite wind gusts. Simulation reveal effectiveness HC compared DO. Furthermore, an AHC more efficient than ABSC