Fig. 1 Rotor subsystem schematics: ( a ) geometries of a blade cross section and ( b ) propeller flow stream More

Fig. 2 Equivalent circuit diagrams of ( a ) motor-ESC model and ( b ) battery model More

Fig. 3 Layout of rotors, axes, and torques (inset: axis orientations) More

Fig. 4 Block diagram of integrated system model More

Fig. 5 Rotor efficiency (output thrust per unit input power from motor) versus rotor angular velocity at V b  = 25 V More

Fig. 6 Energy used per meter over a range of cruise velocities with and without wind at V b  = 23 V More

Fig. 7 Two-level feedback control architecture, including high-level PID control to generate intermediate commands and low-level PID control to generate throttle and angular acceleration commands More

Fig. 8 Trajectories of key UAV states under each controller in simulation for forward ( X f =100 m, Z f  = 0m) and diagonal ( X f  = 50m, Z f  = 20m) flights: ( a ) X position of forward flight, ( b ) X velocity of forward flight, ( c ) pitch angle of forward flight, ( d ) Z position ... More

Fig. 9 Left: octorotor testing vehicle and right: UAV testing at Woodland-Davis Aeromodelers test site More

Fig. 10 Evolution of vehicle states in 50 m forward flight using optimized-trajectory-following and high-velocity baseline controllers: X -axis (forward) position for ( a ) OTF and ( b ) HVB, pitch angle for ( c ) OTF and ( d ) HVB, and power consumption for ( e ) OTF and ( f ) HVB More

Fig. 1 The relationship between optimal predictive control signal and actual control signal More

Fig. 2 The relation of feasible control law More

Fig. 3 Sample-and-hold fashion with i samples More

Fig. 4 The state trajectories x 1 ( t ) under three cases More