Passive height stability and trajectory repeatability of a quadrotor maneuvering in ground effect with regulated voltage bus

Abstract

Passively stable aerodynamic systems are able to regulate their flight without need for additional sensing or actuation. Passive rotorsurface interaction provides a mechanism for repelling a rotorcraft away from the ground and surrounding objects. However, the vertical dynamics of a helicopter are very sensitive to battery voltage, which makes developing these systems more challenging. There is a need to maintain a constant motor bus voltage so that the response of the system is consistent. We employ a step-down buck regulator to maintain a constant voltage for the entire drive system of a miniature quadrotor. This allows us to better study the power efficiency of a quadrotor in ground effect, demonstrate robust passive height stability and determine the influence of voltage variability on trajectory repeatability.