A Dynamic Inverse Decoupling Control Method for Reducing Energy Consumption in a Quadcopter UAV

The energy consumption of rotary-wing unmanned aerial vehicles has become an important factor restricting their long-term application. This article focuses on decoupling the motion channel and reducing control energy consumption, and proposes a decoupling controller based on dynamic inversion for the complete dynamics of quadcopter unmanned aerial vehicles. Firstly, we design a direct closed-loop feedback controller for the z-channel to exhibit second-order linear dynamic characteristics with adjustable parameters. Then, the specific functions of pitch angle and yaw angle are combined as virtual control variables for the comprehensive decoupling design of the x-direction and y-direction, so that the x-channel and y-channel also exhibit independent parameter-adjustable second-order linear dynamic characteristics. Next, by solving the actual control variables, a fast convergence system is dynamically formed by the deviation between the virtual control variables and their actual values, ensuring that the specific function combination of pitch angle and yaw angle quickly converges to the expected value. Finally, the effectiveness and low energy consumption control characteristics of the decoupling control scheme were demonstrated through simulation comparison with other control methods (such as classical PID) in terms of energy consumption.