[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"doc-detail-85176-en":3,"doc-seo-85176-105":28,"detail-sidebar-cat-0-en-105":89},{"code":4,"msg":5,"data":6},0,"success",{"doc_id":7,"user_id":8,"nickname":9,"user_avatar":10,"doc_module":4,"category_id":11,"category_name":12,"doc_title":13,"doc_description":14,"doc_content":15,"file_id":16,"file_url":17,"file_type":18,"file_size":19,"view_count":4,"is_deleted":4,"is_public":20,"is_downloadable":20,"audit_status":20,"page_count":11,"language":21,"language_code":22,"site_id":23,"html_lang":22,"table_of_contents":24,"faqs":25,"seo_title":13,"seo_description":14,"update_tm":26,"read_time":27},85176,962075114765,"Quinn","https://ap-avatar.wpscdn.com/davatar_a8503ba1806abce46bf441b54a3ca4cd",8,"Research & Report","Direct Rotor Thrust Sensing and Feedback Control for Disturbance Rejection of Multirotors Using Load cells","Gust disturbances, dynamic vertical inflow, and ground effect create harmful variations in the forces experienced by multirotors, making flight control more difficult. Conventional miniature rotorcraft often use simplified models and assume the generated thrust matches the controller’s request, which delays sensing until after trajectory deviations. This work introduces direct rotor force measurement with load-cells and high-speed thrust feedback to track desired thrust accurately. Experiments on single/dual-rotor models and a flying aircraft validate feasibility and disturbance-rejection effectiveness under complex aerodynamics.","Direct Rotor Thrust Sensing and Feedback Control for Disturbance Rejection of Multirotors Using  \nLoad-cells  \nPeter Bhm 1 IEEE Member, Michael Br¨unig2 Senior IEEE Member, Peyman Z. Moghadam3 IEEE Member, and  \nPauline E.I. Pounds4 IEEE Member  \narXiv :2607 . 10099v1 [ cs .RO] 11 Jul 2026  \nAbstract—Gust disturbances, dynamic vertical inflow and ground effect are key adverse aerodynamic phenomena that induce variations in the forces acting on a multirotor and complicate its flight control. Miniature rotorcraft typically rely on simplified modelling of such effects to compute adjustmentsin thrust to counteract these forces. In the most basic case, disturbance force estimations are derived from the aircraft’s motion and the generated thrust is assumed to exactly match that requested by the controller. However, such systems rely on the aircraft’s trajectory to be affected before disturbances can be sensed and compensated. Numerous approaches presented over the last 15-20 years aim to reject external disturbances more quickly, but challenges remain.  \nThis paper presents a new approach in this category by measuring the instantaneous force of the rotors directly at the point of generation using load-cells and implementing high-speed control to accurately track the desired thrust. Measurements from loadcells were previously considered too noisy to provide meaningful input, but the experiments presented in the paper using purposebuilt hardware from low-cost commodity components in singleand dual rotor see-saw models and a flying aircraft demonstrate both the feasibility and the effectiveness of the approach in the presence of complex aerodynamic phenomena.  \nI. INTRODUCTION  \nGust disturbances, vertical rotor inflow (eg. vortex ring state) and ground effect have long been complicating factors in the flight control of rotorcraft drones. Compensating for such influences is the quintessential multirotor control task: computing rotor thrusts that reject disturbances, and steer the aircraft on a desired trajectory. Rotorcraft dynamics are well understood, and control is typically based on simplified linear models for hovering in still air, with rotor thrusts and torques treated as quadratic with rotor speeds [1], [2], [3], [4] . Aerodynamic effects such as vertical rotor inflow [5],[6], wind disturbances [7], [8], vortex ring state [9], blade flapping[3], translational lift and drag, and other unsteady effects may or may not be explicitly included. Addressing these problems has been a corner stone of UAV research for the past two decades and even to the present these phenomena drive research in  \n*This work was in part supported by the Advance Queensland Trusted Autonomous Systems Defence CRC Fellowship.  \n1Peter Bhm is a postdoctoral fellow, [p.bohm@uq.edu.au](p.bohm@uq.edu.au)  \n2Michael Br¨unig is a Professor and Head of School of EECS, [m.bruenig@uq.edu.au](m.bruenig@uq.edu.au)  \n3Peyman Moghadam is with CSIRO Robotics, DATA61, CSIRO, Australia. [peyman.moghadam@data61.csiro.au](peyman.moghadam@data61.csiro.au)  \n4Pauline E. I. Pounds is a Professor in Mechatronics, all at the University of Queensland, Queensland, [Australia](Australia pauline.pounds@uq.edu.au)[ pauline.pounds@uq.edu.au](Australia pauline.pounds@uq.edu.au)  \nFig. 1. Quadrotor flying with integrated rotor force sensors.  \nsearch of improved modelling and control solutions [10], [11],[12], [13], [14], [15] .  \nComplex aerodynamic phenomena are challenging to model accurately, and simplified representations that do not capture the full gamut of non-stationary, extrinsic real world behaviors may lead to unanticipated divergence in flight [16], [17],[18] . Approaches to compensating for such phenomena in multirotors can be categorized into three areas: (i) improved detail to close the gap between the model and reality (ii) adaptive, learning approaches that refine an implicitly-learned model’s parameters over time, and (iii) direct feedback control of the aerodynamic thru","cbCainGrYkmk8w5h","https://ap.wps.com/l/cbCainGrYkmk8w5h","pdf",5283630,1,"English","en",105,"# Introduction\n## Aerodynamic disturbances and modeling challenges\n## Control approaches for multirotors","[{\"question\":\"What aerodynamic phenomena most affect multirotor flight control in this work?\",\"answer\":\"Gust disturbances, dynamic vertical inflow, such as vortex ring state, and ground effect are highlighted as key adverse aerodynamic factors that vary the forces on a multirotor.\"},{\"question\":\"Why do many existing thrust-control approaches struggle with fast disturbance rejection?\",\"answer\":\"They often rely on simplified models and require the vehicle trajectory to be affected before disturbances can be sensed and compensated, which slows corrective action.\"},{\"question\":\"How does this paper improve thrust control compared with indirect thrust estimation methods?\",\"answer\":\"It measures the instantaneous rotor force directly at the point of generation using load-cells and uses high-speed control to track the desired thrust, avoiding reliance on indirect upstream electrical or motion 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aerodynamic phenomena most affect multirotor flight control in this work?","Question",{"text":73,"@type":74},"Gust disturbances, dynamic vertical inflow, such as vortex ring state, and ground effect are highlighted as key adverse aerodynamic factors that vary the forces on a multirotor.","Answer",{"name":76,"@type":71,"acceptedAnswer":77},"Why do many existing thrust-control approaches struggle with fast disturbance rejection?",{"text":78,"@type":74},"They often rely on simplified models and require the vehicle trajectory to be affected before disturbances can be sensed and compensated, which slows corrective action.",{"name":80,"@type":71,"acceptedAnswer":81},"How does this paper improve thrust control compared with indirect thrust estimation methods?",{"text":82,"@type":74},"It measures the instantaneous rotor force directly at the point of generation using load-cells and uses high-speed control to track the desired thrust, avoiding reliance on indirect upstream electrical or motion 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