Abstract
Abstract The paper aims at researching and developing an adaptive control system algorithm and its implementation and integration in the control system of the existing unmanned aerial vehicle (UAV). The authors describe the mathematical model of UAV and target function for energy consumption minimisation and possible searching algorithms for UAV optimal control from an energy efficiency perspective. There are two main goals: to minimise energy consumption and to develop and investigate an adaptive control algorithm for UAV traction drive in order to increase energy efficiency. The optimal control algorithm is based on two target function values, when comparing and generating corresponding control signals. The main advantage of the proposed algorithm is its unification and usability in any electrical UAV with a different number of traction drives, different or variable mass and other configuration differences without any initial manual setup. Any electric UAV is able to move with maximal energy efficiency using the proposed algorithm.
Highlights
Since the unmanned aerial vehicles (UAVs) are increasingly used in various fields of human activity, their useful characteristics have become topical, and the flight distance is one of those
It is required to build a control system that will adapt to changing external parameters and in the case of cargo delivery it will react to total weight of the UAV changes after delivery, in order to find the control mode for optimal energy consumption for most efficient use of the battery
2019, vol 15, no. 2 is to study and to develop an adaptive control algorithm for UAV traction drive in order to increase energy efficiency of UAV
Summary
Since the unmanned aerial vehicles (UAVs) are increasingly used in various fields of human activity, their useful characteristics have become topical, and the flight distance is one of those. The energy efficiency maximising problem was formulated and presented in the non-convex fractional optimisation form Such a problem is quite difficult to solve directly; it is divided into two subtasks and effectively solved by the proposed iterative algorithm. The paths of minimum energy between the predetermined initial and final configuration of the quadrotor are determined by solving the optimal control problem with respect to angular accelerations of four propellers. This theory is illustrated in several scenarios for the DJI Phantom 2 quadrotor. The background analysis allows concluding that the minimisation of energy consumption of an unmanned aerial vehicle is a topical issue
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