Amirkabir University of Technology Amirkabir Journal of Mechanical Engineering 2008-6032 52 5 2019 01 28 Optimal Control Based on Minimum-Energy Trajectory Planning of a Quadrotor Optimal Control Based on Minimum-Energy Trajectory Planning of a Quadrotor 1349 1364 3251 10.22060/mej.2019.14832.5954 FA Mahmood Mazare School of Mechanical Engineering, ShahidBeheshtiUniversity, Tehran, Iran. Ehsan Davoodi school of mechanical engineering Mostafa Taghizadeh shahid beheshti university Mahdi Pourgholi school of electrical engineering Journal Article 2018 08 14 Quadrotors have high energy consumption, hence minimizing their energy consumption plays a crucial role in terms of enhancing their operational range and flight time. In this paper, optimal control based on a minimum-energy trajectory planning algorithm has introduced between two positions to maximize the operation time. To do this, first, dynamic equations of a quadrotor and brushless motor are derived. Energy consumption of quadrotor is introduced as a cost function and the minimum energy path is determined using the optimal control theory. All constraints are combined with the Hamiltonian equation using Lagrange multiplier. Finally, simulation results are compared with results of conventional trapezoidal velocity profile which shows energy saving up to 4%. Also, results reveal that the influence of operation time is far more than path length on energy consumption. In order to verify the validity of the simulation results, they are compared with the results of an experimental model which is consisting of brushless motor, sensor, and control board. As well as using simulation results in different situations, a mathematical equation was extracted among path length, operation time and energy consumption which can be useful to estimate the maximum flight range or operation time considering the amount of energy of the battery. Quadrotors have high energy consumption, hence minimizing their energy consumption plays a crucial role in terms of enhancing their operational range and flight time. In this paper, optimal control based on a minimum-energy trajectory planning algorithm has introduced between two positions to maximize the operation time. To do this, first, dynamic equations of a quadrotor and brushless motor are derived. Energy consumption of quadrotor is introduced as a cost function and the minimum energy path is determined using the optimal control theory. All constraints are combined with the Hamiltonian equation using Lagrange multiplier. Finally, simulation results are compared with results of conventional trapezoidal velocity profile which shows energy saving up to 4%. Also, results reveal that the influence of operation time is far more than path length on energy consumption. In order to verify the validity of the simulation results, they are compared with the results of an experimental model which is consisting of brushless motor, sensor, and control board. As well as using simulation results in different situations, a mathematical equation was extracted among path length, operation time and energy consumption which can be useful to estimate the maximum flight range or operation time considering the amount of energy of the battery. https://mej.aut.ac.ir/article_3251_504c296f8eb5fd521e744da4e8371f28.pdf