Researchers from the Shenyang Institute of Automation, Chinese Academy of Sciences, have developed a thrust feedback-based control method for multirotor UAVs to address the challenge of precise rotor thrust control in windy or agile flight conditions. Traditional powertrains rely on open-loop motor speed control, which fails to account for aerodynamic disturbances, leading to inaccurate thrust and reduced stability. The proposed method replaces the conventional motor speed inversion module with a thrust feedback control module that measures actual rotor thrust via sensors, enabling closed-loop regulation.
Key takeaways
- Removes the motor speed inversion module and adds a thrust feedback loop with force sensors for direct thrust measurement.
- Establishes a dynamic model of the powertrain system, using motor throttle as input and rotor thrust as output, and designs an input-output linearization-based controller for precise thrust regulation.
- Simulations under wind disturbance show improved control accuracy and stability, enabling high-precision tracking of agile trajectories.
This approach offers a practical solution for enhancing UAV performance in industrial applications such as inspection, delivery, and search-and-rescue, where wind resilience is critical. By closing the loop on thrust, the method reduces reliance on complex aerodynamic models and improves robustness against environmental variations.
Source: 《机器人》期刊 (robot.sia.cn) · Published 2026-05-12 · “基于升力反馈的旋翼无人机控制方法”