Affiliation:
1. Department of Electrical Engineering Institute of Infrastructure Technology Research and Management Ahmedabad India
2. Faculty of Electrical Engineering and Computer Science Department of Cybernetics and Biomedical Engineering VSB‐Technical University of Ostrava Ostrava‐Poruba Czech Republic (S.O.)
Abstract
AbstractPayload delivery is one of the many Unmanned Aerial Vehicle (UAV) applications that save time, energy, and human resources. The present simulation study compares rotary‐wing quadrotors (RW‐Quadrotors) and tail‐sitter biplane quadrotors (Bi‐Quadrotors) under payload delivery conditions that help to choose the best UAV for the particular mission. A comparative study is performed based on (i) time taken to accomplish the given mission, (ii) trajectory tracking performance, (iii) motor speed throughout the entire flight envelope, and (iv) remains SoC (State of Charge) after the mission. Furthermore, a Backstepping Controller (BSC) and an Adaptive Backstepping Controller (ABSC) are developed for both UAVs to handle mass changes during flight while Genetic Algorithm (GA) is used for the gain optimization. MATLAB Simulink‐based numerical simulation reveals that the Bi‐Quadrotor has a lower average rotor speed than the RW‐Quadrotor. However, the Bi‐Quadrotor's SoC after the mission is higher than the RW‐Quadrotor, and it took less time to accomplish the mission. The ABSC designed for RW‐Quadrotor and Bi‐Quadrotor effectively handles mass change during the mission. However, the BSC controller increases energy consumption for the Bi‐Quadrotor in the presence of wind gusts.
Publisher
Institution of Engineering and Technology (IET)
Subject
Law,Mechanical Engineering,General Environmental Science,Transportation
Reference48 articles.
1. Extended Kalman filtering for battery management systems of LiPB-based HEV battery packs
2. Design, Performance and Testing of a Quad Rotor Biplane Micro Air Vehicle for Multi Role Missions
3. Phillips B. Hrishikeshavan V. Yeo D. Chopra I.:Flight performance of a package delivery quadrotor biplane(2017)
4. Phillips P. Hrishikeshavan V. Rand O. Chopra I.:Design and development of a scaled quadrotor biplane with variable pitch proprotors for rapid payload delivery. In:Proceedings of the American Helicopter Society 72nd Annual Forum pp.17–19.American Helicopter Society International Alexandria VA(2016)
5. Ryseck P. Yeo D. Hrishikeshavan V. Chopra I.:Aerodynamic and mechanical design of a morphing winglet for a quadrotor biplane tail‐sitter. In:Proceedings of the Vertical Flight Society 8th Autonomous VTOL Symposium. pp.29–31.Vertical Flight Society Fairfax VA(2019)