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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....

This book provides overview of numerous control schemes for non-minimum phase and dead-time systems.  The inverse response arises from the conflict of two first-order systems with opposite effects. This feature of the system is known as non-minim phase (NMP) process. The opposite response initiates from odd multiplicity of NMP open-loop zeros. As a result, the controller shows a limited gain margin and bandwidth, implying a robustness restriction. If the user tries to increase the gain, system sometimes gets unstable. Thus, the fundamental notion of providing a suitable balance control...