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Article
Battery State-Of-Charge Based Altitude Controller for Small, Low Cost Multirotor Unmanned Aerial Vehicles
Journal of Intelligent and Robotic Systems
  • Michal Podhradský, Utah State Univeristy
  • Calvin Coopmans, Utah State University
  • Austin Jensen, Utah State University
Document Type
Article
Publisher
Springer Verlag
Publication Date
4-1-2014
DOI
10.1007/s10846-013-9894-7
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.

Citation Information
Michal Podhradský, Calvin Coopmans and Austin Jensen. "Battery State-Of-Charge Based Altitude Controller for Small, Low Cost Multirotor Unmanned Aerial Vehicles" Journal of Intelligent and Robotic Systems Vol. 74 Iss. 2017-01-02 (2014) p. 193 - 207
Available at: http://works.bepress.com/calvin-coopmans/17/