The interactive multi-rotor UAVs are the latest topic of research, because of its potential application in the field of wall painting, wall interaction, crack detection, window cleaning, and lot more. Though these UAVs have vast ap-plications, it as a drawback due to external wind flow generated while perform-ing interaction tasks, resulting in thrust change. This is observed while UAVs are performing interaction tasks which require accurate measurement of thrust. Closed-Loop thrust feedback is necessary for these UAVs.
This research has three goals, the first is a study on electronic speed controllers which as inbuilt telemetry to measure rotor angular velocity and current. The second is analyzing the influence of wind disturbance on the thrust measure-ment, and the last part is a design of an embedded thrust estimator.
