Power-minimizing control of a variable-pitch propulsion system for versatile unmanned aerial vehicles

Travis Henderson, Nikolaos Papanikolopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In response to an abundance of applications, Unmanned Aerial Vehicles are being called upon to perform missions of high difficulty for increasingly long periods of time. Traditional paradigms of propeller design and actuation are reaching a design ceiling, motivating creative approaches to the design of propeller-based propulsion mechanisms. Within the last decade, one particular kind of mechanism, the variable-pitch propeller, has been studied by researchers for its applications to the class of small UAVs. This paper pushes for new results in this area by exploring the use of Variable Pitch Propulsion (VPP) to minimize power consumption for small, versatile UAVs. A control algorithm is presented to minimize the consumed electrical power during a quasi-steady propulsive state. In particular, the algorithm is not confined to operation in limited regions of the state space, but it seeks to minimize power at whatever point in the state space a steady state is reached. Several experimental results are presented to validate the approach.

Original languageEnglish (US)
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4148-4153
Number of pages6
ISBN (Electronic)9781538660263
DOIs
StatePublished - May 2019
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: May 20 2019May 24 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2019-May
ISSN (Print)1050-4729

Conference

Conference2019 International Conference on Robotics and Automation, ICRA 2019
CountryCanada
CityMontreal
Period5/20/195/24/19

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Henderson, T., & Papanikolopoulos, N. (2019). Power-minimizing control of a variable-pitch propulsion system for versatile unmanned aerial vehicles. In 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 4148-4153). [8794357] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8794357