Multi-observer Based Adaptive Controller for Hybrid UAV

Abstract

AbstractA hybrid UAV, like a biplane quadrotor, has many applications in agriculture, disaster management, and relief operation. In this chapter, we designed a dual observer, (i) an Extended state observer (ESO) for the state approximation and (ii) a Nonlinear Disturbance Observer (DO) for the exterior disturbance estimation. There are three different nonlinear controllers; (i) Backstepping Controller (BSC), (ii) Integral Terminal Sliding Mode Controller (ITSMC), and Hybrid Controller (ITSMC \(+\) BSC) are designed, and ESO (with and without DO) are applied for the trajectory tracking to evaluate the results. Mass change during the flight despite wind gusts is also handled using the Adaptive Backstepping controller (ABSC) and Adaptive hybrid controller with ESO and DO.