  Quadrotor unmanned aerial vehicles have a limited quantity of embedded
energy. To preserve and guaranty the success of the UAV mission, we should
manage energy consumption during the mission. In this study we introduce an
optimization algorithm to minimize the consumed energy in quadrotor mission
under windy conditions. The mechanical energy consumed by rotors of the flying
vehicle is formulated with an efficiency function. Then, we formulate the
energy minimization problem as an optimal control problem. The last problem is
solved in order to calculate minimum energy for quadrotor simple mission under
windy conditions. In simulation experiment, we compare the proposed method with
an adaptive control approach.

Robotics