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Efficient electronic speed controller algorithm for multirotor flying vehicles

The majority of MR (multirotor) UAV (unmanned aerial vehicles) platforms consist of a BLDC (brushless direct current) motors, because of their robustness and high rotation speed capabilities. The ESC's (electronic speed controllers) driving the motors are produced as cost/component efficient inverters. They are motor ambiguous, meaning they should work correctly with any BLDC machine connected to the ESC without any complex tuning procedures. In the paper, a sensorless BLDC driving algorithm is presented, utilizing low cost hardware used in mainstream ESC controllers, thus improving the performance over the typical open-loop control scheme.