UC Irvine

The balance and stability analysis for FWMAV systems is always quite challenging, while the flight duration is also becoming a big challenge. In this thesis, we analyzed the balance and stability of FWMAV system while considering the battery model for best energy usage. We designed two stages for controlling the FWMAV vertical flight in this thesis: static flight and dynamic flight. The static flight stage focuses on the tradeoff between the stability and the energy usage, as well as the effection of the battery model. With the battery model considered, static flight orbits with lower power consumption are found. For better optimization of the power consumption, the dynamic flight control methods are proposed by relaxing the strict constraints of hovering and periodic flight. Compared with the power consumption results in the static flight stage, the power consumption improvement in the dynamic flight stage is even larger than 40% while keeping orbits periodic and hovering.