Loss of Effectiveness Information Observability Analysis for Multicopters

Multicopters have been attracting increasing attention in recent years while it is important to consider the flight safety of multicopters in the presence of propulsor faults or failures. To estimate the fault information of the vehicle, the observability of loss of effectiveness information for multicopter is investigated. It is shown that the loss of effectiveness information for multicopters with more than four propulsors is unobservable. Simulation results are presented to show the loss of effectiveness information observability of a hexacopter. The results are discussed and related works for multicopter flight safety in the literature are also presented.