Pseudospectral Optimisation of UAV Trajectories for Minimal Battery Consumption in the Presence of a Wind Field

Azevedo, Gustavo Toledo De; Assis, Pedro Augusto Queiroz de; Pinto, Virgínia Bentes; Galvão, Roberto Kawakami Harrop

doi:10.1109/control.2018.8516807

Cited by 3 publications

(2 citation statements)

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“…The work presented in [11] studies the optimization of UAV trajectories for minimal battery charge consumption in the presence of a wind field. The function to be minimized in this optimization problem is the electrical charge provided by the battery.…”

Section: Related Workmentioning

confidence: 99%

Trade-off between flight performance and energy consumption of a quadrotor

Tavares¹,

Luiz²,

Lima³

2022

Preprint

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<p>This paper studies analytically and quantitatively the influence of the power source on the dynamic performance of the altitude control system of a quadrotor powered by an electrochemical battery. This paper also proposes the formulation of the altitude as a constrained optimization problem in which the drone, actuators, control law, and electrochemical battery models are considered, to define a trade-off between the power consumption rate and the closed-loop dynamic performance loss. An analytical representation of the effect of the battery discharge over the altitude dynamics is obtained through a linear approximation, enabling an analysis of the system poles. The problem of designing an altitude controller is then posed as a constrained optimization problem that can include the battery as a factor. A comparison of the error dynamics between the cases of the battery-unaware controller design and the battery-aware controller design is performed in simulations and experimental flight tests. The results lead to the following conclusions: i. the analytical demonstration agrees with the worse performance observed in the in-flight dynamics as the battery discharges and ii. through a battery-aware controller design approach this effect can be diminished, at the cost of a trade-off in the battery discharge rate.</p>

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Section: Related Workmentioning

confidence: 99%

Trade-off between flight performance and energy consumption of a quadrotor

Tavares¹,

Luiz²,

Lima³

2022

Preprint

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“…The pseudospectral solver was used to gain the optimal trajectory for an UAV in the presence of a wind field. The simulation showed the resulting solutions exploit regions of favorable tailwinds in order to reduce battery consumption [15]. A dynamically feasible trajectory was obtained through the solution of an optimal control problem using pseudospectral optimal control software by Grymin [16].…”

Section: Introductionmentioning

confidence: 99%

Trajectory Optimization and Finite-Time Control for Unmanned Helicopters Formation

et al. 2019

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A safe and rapid formation generation is of great importance for the cooperation performance of the multiple unmanned helicopters. The trajectory optimization and control is the key problem in the process of the formation generation. To achieve this goal, a novel safe formation generation strategy is proposed through trajectory optimization and tracking control. First, the rapidly-exploring random tree (RRT) algorithm is applied to obtain the initial guess to satisfy the requirement of rapid solution. Then, the Gauss pseudospectral method is used to transform the optimal control problem to the nonlinear programming (NLP) problem and the sequence quadratic programming (SQP) method is utilized to gain the optimal trajectory combined with the initial guess. Second, a finite-time sliding mode controller is proposed to ensure the finite time trajectory tracking in the presence of model parameter uncertainties and unknown external disturbances. Finally, the numerical simulation is provided to show the effectiveness of the proposed formation generation strategy for unmanned helicopters formation.INDEX TERMS Trajectory optimization, finite-time sliding mode controller, unmanned helicopters formation.

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