Optimization of Energy Consumption for Quadrotor UAV

In this paper we deals with the limitation of flight endurance for quadrotor unmanned aerial vehicles. Quadrotor UAVs are multi-rotors flying machines; thus, a large proportion of their energy is consumed by rotors in order to maintain the vehicle in the air. In this concept, we introduced an energetic model composed of quadrotor movement dynamic, motors dynamic and battery dynamic; then, the proposed model was validated through simulation to show possibility of saving energy. An optimal control problem is formulated and solved in order to compute minimum energy. In this problem, we seeks to find control inputs and vehicle trajectory between initial and final configurations that minimize the consumed energy during a specific mission. Simulation experiment is made for a quadrotor to highlight the proposed optimization method.