Multirotor Actuator Performance Monitoring in Extreme Environments: (Extended Abstract)

The paper presents a model-based control and monitoring approach for multirotor actuators using propeller rotational speed. It introduces a method for monitoring actuator performance to detect issues like gusts, icing, and propeller breakage using parameter estimates obtained under persistent excitation. This approach enables fault detection and isolation at the actuator level, which is crucial for extreme environments. Experimental validation is conducted using a motor-propeller test stand.