Adaptive Extremum-Seeking-Based Energy Optimization for Tilt-Quadrotors Under Wind Disturbances

This paper investigates the energy-efficiency operation of two-dimensional (2D) tilt-quadrotor systems under wind disturbances and parameter uncertainties. To address the minimum-energy objective, an adaptive extremum-seeking (ES) optimizer is employed to determine the optimal pitch angle in real time, thereby minimizing the energy consumption during flight. Meanwhile, an adaptive super-twisting sliding mode controller (ASTSMC) is used to stabilize the system around the desired trajectory, ensuring robust tracking performance in the presence of disturbances. Numerical simulations and comparative studies with the conventional ES approach and a tilt-quadrotor with a fixed zero pitch angle demonstrate that the proposed method significantly reduces energy consumption, thereby improving flight endurance.