Abstract
With the multi-rotor UAV growing fast in our daily life, the safety and reliability of the systems of UAV is more and more important. This work is to minimize the risks of the Mini-Surveryor(MS-06) which is exploited by NONAMI Lab. Motor and rotor failures are considered as the highest risk of the multirotor helicopter. In my work. First, I will introduce the way how to monitor the motor and rotor failures by using the PWM-I model and the way to find this model. Second, a new arrangement of the rotors of MS-06 is presented, by this way the fault-tolerant of MS-06 became higher.
