Autores: Gandolfo, D.; Salinas, L.; Santos Brandao, A.; Toibero, M.;
Resumen: A substantial interest in aerial robots has grown in recent years. However, the energetic cost of flying is one of the key challenges nowadays. Rotorcrafts are heavier-than-air
flying machines that use lift generated by one or several rotors (vertically oriented propellers) and because of this they spend a
large proportion of their available energy to maintain their own weight in the air. In this paper, this concept is used to evaluate the
relationship between navigation speed and energy consumption in a miniature quadrotor helicopter which travels over a desired
path. A novel path following controller is proposed in which the speed of the rotorcraft is a dynamic profile that varies with the
geometric requirements of the desired path. The stability of the control law is proved using the Lyapunov theory. Experimental results using a real quadrotor show the good performance of the proposed controller and the percentages of involved energy are
quantified using a model of a lithium polymer battery that was previously identified.