Trade_off_between_flight_performance_and_energy_consumption_of_a_quadrotor.pdf (1.15 MB)
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Trade-off between flight performance and energy consumption of a quadrotor

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posted on 2022-12-24, 06:05 authored by Augusto de Holanda Barreto Martins TavaresAugusto de Holanda Barreto Martins Tavares, Saulo Oliveira Dornellas Luiz, Antonio M.N. LimaAntonio M.N. Lima

This paper studies analytically and quantitatively the influence of the power source on the dynamic performance of the altitude control system of a quadrotor powered by an electrochemical battery. This paper also proposes the formulation of the altitude as a constrained optimization problem in which the drone, actuators, control law, and electrochemical battery models are considered, to define a trade-off between the power consumption rate and the closed-loop dynamic performance loss. An analytical representation of the effect of the battery discharge over the altitude dynamics is obtained through a linear approximation, enabling an analysis of the system poles. The problem of designing an altitude controller is then posed as a constrained optimization problem that can include the battery as a factor. A comparison of the error dynamics between the cases of the battery-unaware controller design and the battery-aware controller design is performed in simulations and experimental flight tests. The results lead to the following conclusions: i. the analytical demonstration agrees with the worse performance observed in the in-flight dynamics as the battery discharges and ii. through a battery-aware controller design approach this effect can be diminished, at the cost of a trade-off in the battery discharge rate.


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Submitting Author's Institution

Universidade Federal de Campina Grande

Submitting Author's Country

  • Brazil