Multi-rotor UAVs have become increasingly relevant across various sectors due to their highly beneficial and versatile characteristics. Due to their generally compact size, ease of operation, ability to do vertical take-off and landing, and exceptional manoeuvrability, they have become a widely used and valuable tool in many fields. For example, they are used in aerial photography for agriculture, environmental issues and search and rescue missions to gather data quickly and efficiently. A disadvantage of those drones is that due to their compact size, they have limitations to payload and battery capacity. A popular upgrade is to increase the amount of rotors to increase payload capacity. The rotors suck air from above the blades to generate thrust, but as they are located close together, the airflow will be disturbed by adjacent rotors. This results in a loss of thrust force generated by the affected rotors. There have been several researches on the optimization of aerodynamic performance, however, there are no papers that go into using the observability of the system to reconstruct the state with this cross-influence rotor disturbance force. Most papers go into either wind disturbance force or single-rotor failure cases.
The research question that will be answered during the assignment is:
"Given the measure of the force sensor (and possibly part of the state), is it possible to reconstruct the full state without measuring fbias? If yes, which is the minimal set of measurements?"
If time allows, there is a possible extension of the project with the research question: "Given a desired trajectory for the load mass, is it possible to develop a control action which makes the load mass reach the desired trajectory asymptotically?"