Battery State-Of-Charge Based Altitude Controller for Small, Low Cost Multirotor Unmanned Aerial Vehicles
Document Type
Article
Journal/Book Title/Conference
Journal of Intelligent and Robotic Systems
Volume
74
Issue
2017-01-02
Publisher
Springer Verlag
Publication Date
4-1-2014
First Page
193
Last Page
207
Abstract
Small unmanned aerial vehicles (UAV) are typically driven by Lithium polymer batteries. The batteries have their own dynamics, which changes during discharge. Classical approaches to altitude control assume a time-invariant system and therefore fail. Adaptive controllers require an identified system model which is often unavailable. Battery dynamics can be characterized and used for a battery model-based controller. This controller is useful in situations when no feedback from actuators (such as RPM or thrust) is available. After measuring the battery dynamics for two distinct types of batteries, a controller is designed and experimentally verified, showing a consistent performance during entire discharge test and a consequent flight verification.
Recommended Citation
Podhraský, Michal; Coopmans, Calvin; and Jensen, Austin, "Battery State-Of-Charge Based Altitude Controller for Small, Low Cost Multirotor Unmanned Aerial Vehicles" (2014). Electrical and Computer Engineering Faculty Publications. Paper 166.
https://digitalcommons.usu.edu/ece_facpub/166
