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In this paper, a method for fault detection of physical impairment of UAV rotor blades is presented. Actuators in multirotor UAV (Unmanned Aerial Vehicle) systems are common subjects fault diagnosis methods which are an essential part of the active fault-tolerant control scheme. Defects in a propulsion system of the aerial vehicle lead to the loss of thrust generated by rotors and as a result, to...
Control algorithms are essential in multirotor aerial platforms and remain a trending research topic. This paper presents the development process of different cascade controllers for multirotor UAVs. Two main usage areas of this method are described — the control of position and attitude. Based on the literature and experience from previous research, structures of mentioned algorithms are proposed...
In this paper, a simple and easily applicable model of the coaxial propulsion unit for multirotor UAVs is presented. Measurements performed on the experimental test bench provided information about the generated thrust in relation to PWM control signals and supply voltage. Modelling techniques based on Takagi-Sugeno fuzzy interface and surface fitting are proposed. Implementation of the first order...
This paper describes the process of the development and improvement of the altitude and vertical velocity estimation algorithm. The previous method was developed by authors two years back. After a diagnosis of pressure temperature drift caused by the main IMU, the additional barometric sensor was introduced. Based on readings from this reference component, three main modifications were developed to...
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