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Gupta Saksham Munish

Gupta Saksham Munish supervised by Dr. Spandan Roy received his Master of Science in  Electronics and Communication Engineering (ECE). Here’s a summary of his research work on Adaptive Control of Quadrotor under Actuator Loss and Unknown State-dependent Dynamics:

Enhancing quadrotor efficiency through adaptive control is essential for addressing the critical need for Fault-Tolerant Control (FTC) in the presence of operational uncertainties and component inefficiencies. Conventional adaptive FTC strategies typically assume that uncertainties are bounded by a constant known a priori. However, this assumption is inadequate when dealing with imprecise inertial system parameters, leading to state-dependent uncertainties that deviate from this model. When left unaddressed, such uncertainties can result in instability, particularly under actuator faults, posing significant risks to the reliability of quadrotor systems. To overcome these challenges, the proposed adaptive FTC method effectively mitigates actuator faults and addresses unknown state-dependent uncertainties through the implementation of carefully designed adaptive laws. This approach incorporates real-time fault detection and dynamic control allocation, which together prevent overly conservative control applications, ensuring that the quadrotor maintains optimal performance even under adverse conditions. By dynamically adjusting control efforts based on real-time data, the system is capable of responding robustly to varying fault scenarios, thereby enhancing overall operational resilience. The stability of the closed-loop system is rigorously analyzed using Lyapunov theory, which provides a strong theoretical foundation for the proposed framework. Analytical studies confirm that the adaptive FTC maintains stability across a wide range of operational scenarios, ensuring the quadrotor’s reliability. The effectiveness of this solution is further validated through comprehensive simulations on a realistic quadrotor model, demonstrating significant improvements over existing methods in terms of both stability and efficiency. This research highlights the importance of adaptive control strategies in maintaining reliable and safe quadrotor operations, setting the stage for future advancements in UAV fault tolerance and control systems. By addressing the complexities of state-dependent uncertainties and actuator faults, the study contributes to the broader field of autonomous aerial vehicles, ultimately enhancing the safety and effectiveness of UAV deployments in various applications.

November 2024