Energy Saving Quadrotor Control for Field Inspections

Yafeng Wang, Yeqin Wang, Beibei Ren

Research output: Contribution to journalArticlepeer-review

10 Scopus citations


This article presents a control strategy to improve the energy efficiency of a quadrotor for field inspections. A power consumption analytical model for a quadrotor is constructed, which indicates that the power consumption of a quadrotor is correlated with the roll and pitch angles. Based on that, a cascaded bounded control framework is developed to regulate the roll and pitch angles within the predefined energy-efficient ranges, while a successful inspection trajectory tracking can be achieved simultaneously. Experimental studies are carried out to prove the effectiveness of the proposed method through a mock-up scenario of wind farm inspection. Compared to the conventional cascaded control framework, the proposed energy saving control strategy is capable of saving 5% energy for the same inspection assignment under wind disturbance.

Original languageEnglish
Pages (from-to)1768-1777
Number of pages10
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number3
StatePublished - Mar 1 2022


  • Energy saving control
  • quadrotor


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