Performance of the UAVs for a particular application can be enhanced by hybrid design, where take-off, hover, and landing happen like rotary-wing UAVs, flies fixed-wing UAVs. A backstepping controller an adaptive are designed trajectory tracking payload delivery in medical emergency or substance vaccine presence wind gust. Simulation results show that effectively tracks during entire flight env...

A quadrotor is nonlinear, coupled and unstable system. Two control schemes, namely backstepping and sliding mode, have been applied to obtain desired trajectory tracking by quadrotor. This paper presents the comparative performance results of quadrotor under two control schemes.

The problem of designing an improved nonlinear robust controller is addressed adopting three perspectives for static synchronous compensator (STATCOM) system in the presence of time-delay, uncertainty parameter and external disturbances. At first, in order to reduce high degree coupling between system state variables and estimation errors, uncertain parameter is estimated by using the system im...

This paper proposes a simpler solution to the stabilization problem of a special class of nonlinear underactuated mechanical systems which includes widely studied benchmark systems like Inertia Wheel Pendulum, TORA and Acrobot. Complex internal dynamics and lack of exact feedback linearizibility of these systems makes design of control law a challenging task. Stabilization of these systems has ...

This dissertation addresses the modeling, identification, and control of an automated planing vessel. To provide motion models for trajectory generation and to enable model-based control design for trajectory tracking, several experimentally identified models are compared over a wide range of speed and planing conditions for the Virginia Tech Ribcraft Unmanned Surface Vehicle. The modeling and ...

In dealing with a large-scale system, one usually does not have adequate knowledge of the plant parameters and interactions among subsystems. The decentralized adaptive technique, designed independently for local subsystems and using locally available signals for feedback propose, is an appropriate strategy to be employed. In the context of decentralized adaptive control, a number of results ha...