A Dynamic Inverse Decoupling Control Method for Reducing Energy Consumption in a Quadcopter UAV
The energy consumption of rotary-wing unmanned aerial vehicles has become an important factor restricting their long-term application. This article focuses on decoupling the motion channel and reducing control energy consumption, and proposes a decoupling controller based on dynamic inversion for th...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-05-01
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| Series: | Automation |
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| Online Access: | https://www.mdpi.com/2673-4052/6/2/19 |
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| author | Guoxin Ma Kang Tian Hongbo Sun Yongyan Wang Haitao Li |
| author_facet | Guoxin Ma Kang Tian Hongbo Sun Yongyan Wang Haitao Li |
| author_sort | Guoxin Ma |
| collection | DOAJ |
| description | The energy consumption of rotary-wing unmanned aerial vehicles has become an important factor restricting their long-term application. This article focuses on decoupling the motion channel and reducing control energy consumption, and proposes a decoupling controller based on dynamic inversion for the complete dynamics of quadcopter unmanned aerial vehicles. Firstly, we design a direct closed-loop feedback controller for the z-channel to exhibit second-order linear dynamic characteristics with adjustable parameters. Then, the specific functions of pitch angle and yaw angle are combined as virtual control variables for the comprehensive decoupling design of the x-direction and y-direction, so that the x-channel and y-channel also exhibit independent parameter-adjustable second-order linear dynamic characteristics. Next, by solving the actual control variables, a fast convergence system is dynamically formed by the deviation between the virtual control variables and their actual values, ensuring that the specific function combination of pitch angle and yaw angle quickly converges to the expected value. Finally, the effectiveness and low energy consumption control characteristics of the decoupling control scheme were demonstrated through simulation comparison with other control methods (such as classical PID) in terms of energy consumption. |
| format | Article |
| id | doaj-art-c1abdf1149804caaa5229fbd1bb59f09 |
| institution | Kabale University |
| issn | 2673-4052 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Automation |
| spelling | doaj-art-c1abdf1149804caaa5229fbd1bb59f092025-08-20T03:26:25ZengMDPI AGAutomation2673-40522025-05-01621910.3390/automation6020019A Dynamic Inverse Decoupling Control Method for Reducing Energy Consumption in a Quadcopter UAVGuoxin Ma0Kang Tian1Hongbo Sun2Yongyan Wang3Haitao Li4School of Computer and Control Engineering, Yantai University, Yantai 264005, ChinaSchool of Computer and Control Engineering, Yantai University, Yantai 264005, ChinaSchool of Computer and Control Engineering, Yantai University, Yantai 264005, ChinaBeijing Institute of Environmental Features, Beijing 100161, ChinaBeijing Institute of Environmental Features, Beijing 100161, ChinaThe energy consumption of rotary-wing unmanned aerial vehicles has become an important factor restricting their long-term application. This article focuses on decoupling the motion channel and reducing control energy consumption, and proposes a decoupling controller based on dynamic inversion for the complete dynamics of quadcopter unmanned aerial vehicles. Firstly, we design a direct closed-loop feedback controller for the z-channel to exhibit second-order linear dynamic characteristics with adjustable parameters. Then, the specific functions of pitch angle and yaw angle are combined as virtual control variables for the comprehensive decoupling design of the x-direction and y-direction, so that the x-channel and y-channel also exhibit independent parameter-adjustable second-order linear dynamic characteristics. Next, by solving the actual control variables, a fast convergence system is dynamically formed by the deviation between the virtual control variables and their actual values, ensuring that the specific function combination of pitch angle and yaw angle quickly converges to the expected value. Finally, the effectiveness and low energy consumption control characteristics of the decoupling control scheme were demonstrated through simulation comparison with other control methods (such as classical PID) in terms of energy consumption.https://www.mdpi.com/2673-4052/6/2/19quadrotor UAVlow-energy consumptiondynamicsdecoupling control |
| spellingShingle | Guoxin Ma Kang Tian Hongbo Sun Yongyan Wang Haitao Li A Dynamic Inverse Decoupling Control Method for Reducing Energy Consumption in a Quadcopter UAV Automation quadrotor UAV low-energy consumption dynamics decoupling control |
| title | A Dynamic Inverse Decoupling Control Method for Reducing Energy Consumption in a Quadcopter UAV |
| title_full | A Dynamic Inverse Decoupling Control Method for Reducing Energy Consumption in a Quadcopter UAV |
| title_fullStr | A Dynamic Inverse Decoupling Control Method for Reducing Energy Consumption in a Quadcopter UAV |
| title_full_unstemmed | A Dynamic Inverse Decoupling Control Method for Reducing Energy Consumption in a Quadcopter UAV |
| title_short | A Dynamic Inverse Decoupling Control Method for Reducing Energy Consumption in a Quadcopter UAV |
| title_sort | dynamic inverse decoupling control method for reducing energy consumption in a quadcopter uav |
| topic | quadrotor UAV low-energy consumption dynamics decoupling control |
| url | https://www.mdpi.com/2673-4052/6/2/19 |
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