Bangura, Moses; Lim, Hiyon; Kim, H Jin; Mahony, Robert
In this paper, a new motor control input and
controller for small-scale electrically powered multirotor aerial vehicles is proposed. The proposed scheme is based on controlling aerodynamic power as opposed to the rotor speed of each motor-rotor system. Electrical properties of the brushless
direct current motor are used to both estimate and control the mechanical power of the motor system which is coupled with aerodynamic power using momentum theory analysis. In comparison to current...[Show more]
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