Failure detection of Unmanned Aerial Vehicle (UAV) motors and propulsion systems is the most important step in the implementation of active fault-tolerant control systems. This will increase the reliability of unmanned systems and increase the level of safety, especially in civil and commercial applications. The following paper presents a method of motor failure detection in the multirotor UAV using piezo bars. The results of a real flight, in which the failure of the propulsion system caused the crash of a hybrid VTOL UAV, were presented and analyzed. The conclusions drawn from this flight led to the development of a lightweight, simple and reliable sensor that can detect a failure of the UAV propulsion system. The article presents the outcomes of laboratory tests concerning measurements made with a piezo sensor. An extensive analysis of the obtained results of vibrations recorded on a flying platform arm with a propulsion system is presented, and a methodology for using this type of data to detect failures is proposed. The article presents the possibility of using a piezoelectric sensor to record vibrations on the basis of which it is possible to detect a failure of the UAV propulsion system.

Energy harvesting from moving structures for autonomous electrically powered applications, i.e. unmanned aerial vehicles (UAVs), especially in the case quadrotors, has been a common subject of...

The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered directions.