An actuator allocation method for a variable-pitch propeller system of quadrotor-based uavs

Ching Wei Chang, Shengyang Chen, Chih Yung Wen, Boyang Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

3 Citations (Scopus)


This paper presents a control allocation method for enhancing the attitude following performance and the energy efficiency of a variable-pitch propeller (VPP) system on quadrotorbased unmanned aerial vehicles. The VPP system was modeled according to the blade element momentum (BEM) theory, and an actuator allocation method was developed with the aim of enhancing the attitude control and energy performance. A simulation environment was built to validate the VPP system by creating a thrust and moment database from the experiments. A fourmotor variable-pitch quadrotor was built for verifying the proposed method. The control allocation method was firstly verified in a simulation environment, and was then implemented in a flight controller for indoor flight experiments. The simulation results show the proposed control allocation method greatly improves the yaw following performance. The experimental results demonstrate a difference in the energy consumption through various pitch angles, as well as a reduction in energy consumption, by applying this VPP system.

Original languageEnglish
Article number5651
Pages (from-to)1-17
Number of pages17
JournalSensors (Switzerland)
Issue number19
Publication statusPublished - 1 Oct 2020


  • Actuator allocation
  • Flight experiment
  • Simulink simulation
  • Unmanned aerial vehicle (UAV)
  • Variable-pitch propeller

ASJC Scopus subject areas

  • Analytical Chemistry
  • Biochemistry
  • Atomic and Molecular Physics, and Optics
  • Instrumentation
  • Electrical and Electronic Engineering


Dive into the research topics of 'An actuator allocation method for a variable-pitch propeller system of quadrotor-based uavs'. Together they form a unique fingerprint.

Cite this