Observer based rotor failure compensation for biplane quadrotor with slung load
نویسندگان
چکیده
In this study, mathematical modeling of biplane quadrotor with slung load is proposed. Performance the degrade while swinging so to compensate it nonlinear observer based backstepping controller designed that can not only handle disturbance generated by but also capable tackle partial rotor failure and wind gust. Simulation study carried out considering (only for mode), gust, (for all three modes) as external design estimate it. Backstepping control technique used modes quadrotor. shows proposed scheme cable different sources in biplane.
منابع مشابه
Design of a Neural Network Controller for a Slung-Load System Lifted by 1 Quad-Rotor
This paper deals with the design of neural network controller for the slung-load system. There are many methods for modeling the slung-load system, we developed the entire system model based on the UKE (Udwadia-Kalaba Equations) in order to account for multiconstraints. Neural network was adapted to the attitude controller. Finally, considering all matters in the design process, numerical simul...
متن کاملAggressive Optimal Control for Agile Flight with a Slung Load
A possible design method for learning motion control consists of using a model-based optimal control algorithm to initialize the policy of a sampling based reinforcement learning algorithm. In this paper, the initial control trajectory design is performed for a quadrotor with a cable-suspended load using the iterative LQG (iLQG) algorithm. The hybrid model of the quadrotor with the load is intr...
متن کاملNeural Network Control Based on Adaptive Observer for Quadrotor Helicopter
A neural network control scheme with an adaptive observer is proposed in this paper to Quadrotor helicopter stabilization. The unknown part in Quadrotor dynamical model was estimated on line by a Single Hidden Layer network. To solve the non measurable states problem a new adaptive observer was proposed. The main purpose here is to reduce the measurement noise amplification caused by convention...
متن کاملA Novel Algorithm for Rotor Speed Estimation of DFIGs Using Machine Active Power based MRAS Observer
This paper presents a new algorithm based on Model Reference Adaptive System (MRAS) and its stability analysis for sensorless control of Doubly-Fed Induction Generators (DFIGs). The reference and adjustable models of the suggested observer are based on the active power of the machine. A hysteresis block is used in the structure of the adaptation mechanism, and the stability analysis is performe...
متن کاملAdaptive Control System for Autonomous Helicopter Slung Load Operations
This paper presents design and verification of an estimation and control system for a helicopter slung load system. The estimator provides position and velocity estimates of the slung load and is designed to augment existing navigation in autonomous helicopters. Sensor input is provided by a vision system on the helicopter that measures the position of the slung load. The controller is a combin...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Ain Shams Engineering Journal
سال: 2022
ISSN: ['2090-4479', '2090-4495']
DOI: https://doi.org/10.1016/j.asej.2022.101748