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Table of contents
1 Generalities of topic thesis
1.1 Introduction
1.2 Motivation
1.3 Objectives and aims of topic thesis
1.4 Scope
1.5 Contributions and publications
1.6 Thesis organization
1.7 Conclusion
2 State of the Art
2.1 Prognosis and Health Management
2.1.1 Prognosis methods
2.1.2 Short and Long term predictions
2.1.3 PHM in multirotor UAV
2.2 Mission planning
2.3 Path planning
2.4 Conclusions
3 Mathematical model of UAV hexarotor
3.1 Multirotor congurations
3.2 Hexarotor dynamics
3.3 Propulsion system
3.3.1 Lithium Polymer battery dynamics
3.3.2 BrushLess DC Motor dynamics
3.4 Position and orientation controller design
3.4.1 Cascade Control Loop (CCL) development
3.4.2 Integration of Propulsion system in CCL
3.5 Conclusion
4 Prognosis and Health Management of multirotor UAV
4.1 Prognosis module
4.1.1 State Estimation
4.1.2 Propagation and Prediction of estimated states
4.2 Multirotor Flight Endurance
4.2.1 Endurance model
4.2.2 Flight Endurance Prediction
4.2.3 SoC estimation
4.3 Battery Health prediction
4.4 Conclusions
5 Energy aware mission planning
5.1 Mission planning strategy
5.1.1 Energy consumption of hexarotor
5.1.2 Path generation based on energy consumption
5.2 Simulation results
5.3 Conclusions
6 Conclusions and perspectives
6.1 Prognosis and Health Management module
6.2 Mission planning and path planning
Appendix
Appendix A. Parametrization of lithium battery
Bibliograph
