Aerodynamic power control for multirotor aerial vehicles

Moses Bangura, Hyon Lim, H. Jin Kim, Robert Mahony

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    35 Citations (Scopus)

    Abstract

    In this paper, a new motor control input and controller for small-scale electrically powered multirotor aerial vehicles is proposed. The proposed scheme is based on controlling aerodynamic power as opposed to the rotor speed of each motor-rotor system. Electrical properties of the brushless direct current motor are used to both estimate and control the mechanical power of the motor system which is coupled with aerodynamic power using momentum theory analysis. In comparison to current state-of-the-art motor control for multirotor aerial vehicles, the proposed approach is robust to unmodelled aerodynamic effects such as wind disturbances and ground effects. Theory and experimental results are presented to illustrate the performance of the proposed motor control.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages529-536
    Number of pages8
    ISBN (Electronic)9781479936854, 9781479936854
    DOIs
    Publication statusPublished - 22 Sept 2014
    Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
    Duration: 31 May 20147 Jun 2014

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Conference

    Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
    Country/TerritoryChina
    CityHong Kong
    Period31/05/147/06/14

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