Multirotor unmanned aerial vehicle is a prevailing type of aircraft with wide real-world applications.Energy efficiency critical aspect its performance, determining the range and duration missions that can be performed.In this study, we show both analytically numerically optimum key energy index in forward flight, namely per meter traveled unit mass, constant under different mass (including payload).Note relationship only true optimal velocity minimizes consumption (under mass), but not...

Electric Vertical-Take-Off-and-Landing aircraft has been emerging as a revolutionary transportation mode. A major limiting factor for unmanned and manned applications is the energy performance, which determines flight time range. Characterization modeling of underlying multi-physical dynamics critical efforts on design, motion planning, control to improve often take model-based approach. system-level model incorporating all relevant subsystem their coupling missing in literature. To fill...

Studies the robustness properties of a large class nonlinear systems by addressing following question: given system with specified asymptotically stable equilibria, under what conditions will perturbed model possess equilibria that are close (in distance) to unperturbed system? In arriving at results, authors establish stability results for considered, and determine ensure existence near original system. These involve quantitative estimates distance between corresponding equilibrium points...

Energy performance, e.g. flight time and range, is currently a major challenge limiting the electric multirotor unmanned aerial vehicle (UAV). Improving UAV energy performance through design, control, planning has received increasing attention lately. The basis for these efforts an in-depth understanding of underlying governing dynamics, which involves aerodynamics rotor-propeller assembly, electro-mechanical dynamics motor controller, electrical battery, rigid body UAV. A system-level model...

Abstract Electric vertical-take-off-and-landing multirotor aircraft has been emerging as a revolutionary transportation mode for both manned and unmanned applications, but this technology is limited by flight time range restrictions. In work, an energy-efficient model-based trajectory planning feedback control framework developed to improve the energy performance of aerial vehicle. Target vehicle trajectories are planned solving formulated consumption optimization problem based on...

Multirotor unmanned aerial vehicle is a prevailing type of robots with wide real-world applications. The energy efficiency the robot critical aspect its performance, determining range and duration missions that can be performed. This paper studies energy-optimal planning multirotor, which aims at finding optimal ordering waypoints minimum consumption for in 3D space. study performed based on previously developed model capturing first-principle dynamics multirotor. We found majority cases (up...

Abstract Electric multirotor aircraft with vertical-take-off-and-landing capabilities are emerging as a revolutionary transportation mode. This paper studies optimal control of unmanned aerial vehicle based on system-level multiphysical model. The model considers aerodynamics the rotor-propeller assembly, electro-mechanical dynamics motor and controller, rigid-body vehicle, incorporating all these their coupling is missing in literature. A forward flight operation considered for time-optimal...

Electric multirotor aircraft is a major emerging technology, but currently limited by energy performance, which affects flight time and range. In this paper, energy-efficient trajectory generation performed based on system-level model of the multi-physical dynamics an octorotor vehicle. An energy-optimal control problem formulated using model, solutions are calculated discussed for range hover-to-hover operations, include both vertical horizontal components. To allow rapid, flexible,...