Adaptive Hybrid Control of Quadrotor Drones (四旋翼無人機的自適應混合控制)

Dalwadi, Nihal, Deb, Dipankar, Ozana, Stepan

Adaptive Hybrid Control of Quadrotor Drones
  • 出版商: Springer
  • 出版日期: 2024-03-03
  • 售價: $5,040
  • 貴賓價: 9.5 折 $4,788
  • 語言: 英文
  • 頁數: 174
  • 裝訂: Quality Paper - also called trade paper
  • ISBN: 9811997462
  • ISBN-13: 9789811997464
  • 相關分類: 無人機

    • 海外代購書籍(需單獨結帳)

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商品描述

This book discusses the dynamics of a tail-sitter quadrotor and biplane quadrotor-type hybrid unmanned aerial vehicles (UAVs) and, based on it, various nonlinear controllers design like backstepping control (BSC), ITSMC (Integral Terminal Sliding Mode Control), and hybrid controller (BSC + ITSMC). It discusses single and multiple observer-based control strategies to handle external disturbances like wind gusts and estimate states. It covers the dynamics of slung load with a biplane quadrotor and a control architecture to handle the effect of partial rotor failure with wind gusts acting on it. An anti-swing control to prevent damage to the slung load and a deflecting surface-based total rotor failure compensation strategy to prevent damage to the biplane quadrotor are also discussed in this book. The monograph will be helpful for undergraduate and post-graduate students as well as researchers in their advanced studies.

商品描述(中文翻譯)

本書探討了尾坐式四旋翼和雙翼四旋翼型混合無人機（UAV）的動力學，並基於此設計了各種非線性控制器，如反向步驟控制（Backstepping Control, BSC）、積分終端滑模控制（Integral Terminal Sliding Mode Control, ITSMC）和混合控制器（BSC + ITSMC）。本書討論了基於單一和多重觀測器的控制策略，以應對外部擾動，如風陣，並進行狀態估計。內容涵蓋了懸掛負載的動力學，與雙翼四旋翼的控制架構，以處理部分旋翼故障在風陣作用下的影響。本書還討論了防擺控制，以防止懸掛負載受損，以及基於偏轉表面的完全旋翼故障補償策略，以防止雙翼四旋翼受損。這本專著將對本科生、研究生以及研究人員在其進階學習中提供幫助。

作者簡介

Nihal Dalwadi was born in Nadiad (Gujarat), in 1992 and is currently pursing Ph. D. in Department of Electrical Engineering from lnstitute of lnfrastructure Technology Research ancl Management (ITRAM), Ahmedabad, lndia. He obtained his Master's degree in Control and Automation from Institute of Technology, Nirma University, Ahmedabad, India and B. Tech in Instrumentation and control engineering from Sardar Vallabhbhai Patel Institute of Technology (SVIT) Vasad, India. His current research interests include Adaptive control, nonlinear control, stability analysis and UAV Navigation and Control design.

Dipankar Deb (M'05--SM'17) is a Senior Member of IEEE and has served a couple of years at IIT Guwahati as an Assistant Professor (AGP 8000) during 2010-2012. He has over 6 years of Industrial experience both in New York (USA) and GE Global Research (Bengaluru) India. From July 2015 to Jan 2019, he has served as an Associate professor, and from Jan 24, 2019, onward he is a Professor in Electrical Engineering at Institute of Infrastructure Technology Research and Management (IITRAM) Ahmedabad. He holds 6 US patents and 1 Indian Patent and has published 44 SCI indexed Journal articles and 40+ International conference papers. He has also authored 11 books with reputed publishers like Springer and Elsevier. He is a Book Series Editor with CRC Press on Control Theory and Applications, and an Associate Editor for IEEE Access. He has also worked extensively in areas such as Adaptive Control, Active flow control, Renewable Energy, Cognitive Robotics and Machine Learning. He is listed in the top 2% of Researchers worldwide for 2020-21 as published by Stanford University.

STEPAN OZANA was born in Bilovec, Czech Republic, 16th May 1977. He studied Electrical Engineering at VSB Technical university of Ostrava where he has got M.Sc. degree in Control and Measurement Engineering (2000) and Ph.D. degree inTechnical Cybernetics (2004). In 2015 he habilitated in Technical Cybernetics and since he works as an Associate Professor at the Department of Cybernetics and Biomedical Engineering, Faculty of Electrical Engineering and Computer Science by VSB-Technical University of Ostrava. At present he gives lectures on Cybernetics and Control systems. His main area of interest and expertise is modeling and simulation of dynamic systems, control theory, automation, design, implementation and deployment of control algorithms using softPLC systems.

作者簡介(中文翻譯)

Nihal Dalwadi 於1992年出生於印度古吉拉特邦的納迪亞德，目前正在印度艾哈邁達巴德的基礎設施技術研究與管理學院（ITRAM）電機工程系攻讀博士學位。他在印度艾哈邁達巴德的尼爾瑪大學技術學院獲得控制與自動化碩士學位，並在印度瓦薩德的薩達爾·瓦拉巴伊·帕特爾技術學院（SVIT）獲得儀器與控制工程的學士學位。他目前的研究興趣包括自適應控制、非線性控制、穩定性分析以及無人機導航與控制設計。

Dipankar Deb（M'05--SM'17）是IEEE的高級會員，曾於2010年至2012年間在印度古瓦哈提的印度理工學院擔任助理教授（AGP 8000）。他在美國紐約和印度班加羅爾的GE全球研究機構擁有超過6年的工業經驗。從2015年7月到2019年1月，他擔任副教授，自2019年1月24日起，他成為艾哈邁達巴德基礎設施技術研究與管理學院（IITRAM）電機工程系的教授。他擁有6項美國專利和1項印度專利，並發表了44篇SCI索引的期刊文章和40多篇國際會議論文。他還與知名出版社如Springer和Elsevier合著了11本書籍。他是CRC Press控制理論與應用系列書籍的編輯，並擔任IEEE Access的副編輯。他在自適應控制、主動流量控制、可再生能源、認知機器人學和機器學習等領域也有廣泛的研究。他在2020-21年被史丹佛大學列入全球前2%的研究人員名單。

STEPAN OZANA 於1977年5月16日出生於捷克共和國比洛維茨。他在奧斯特拉瓦的VSB技術大學學習電機工程，並於2000年獲得控制與測量工程的碩士學位，於2004年獲得技術控制論的博士學位。2015年，他在技術控制論方面取得了資格認證，並自此在VSB技術大學電機工程與計算機科學學院的控制論與生物醫學工程系擔任副教授。目前，他教授控制論和控制系統的課程。他的主要研究領域和專長是動態系統的建模與模擬、控制理論、自動化、控制算法的設計、實施和使用softPLC系統的部署。

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