Energy Based Modeling and Power Consumption of Unconventional Quadrotor

This paper deals with energy modeling and power consumption of new unconventional quadrotors according to the rotation angle of the arms, the angular velocity of rotors, and the path curvature changes. Thus, the main dynamic behaviors of the system influence the power consumption. For that, it is important to first understand its behavior, its environment, and its dynamics through dynamic modeling. Then, the implementation of control laws is necessary to ensure stability and good trajectory tracking. For that, an adaptive controller-based backstepping method is designed and applied to our system. The mathematical model of power consumption is formulated and the energy consumption is calculated. Finally, a comparison between different scenarios has been validated through simulation for different configuration and curvature values.