TY - JOUR
T1 - Energy Saving Quadrotor Control for Field Inspections
AU - Wang, Yafeng
AU - Wang, Yeqin
AU - Ren, Beibei
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2022/3/1
Y1 - 2022/3/1
N2 - 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.
AB - 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.
KW - Energy saving control
KW - quadrotor
UR - http://www.scopus.com/inward/record.url?scp=85097930540&partnerID=8YFLogxK
U2 - 10.1109/TSMC.2020.3037071
DO - 10.1109/TSMC.2020.3037071
M3 - Article
AN - SCOPUS:85097930540
SN - 2168-2216
VL - 52
SP - 1768
EP - 1777
JO - IEEE Transactions on Systems, Man, and Cybernetics: Systems
JF - IEEE Transactions on Systems, Man, and Cybernetics: Systems
IS - 3
ER -