A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles

Abstract

The continuous evolution of modern technology has led to the creation of increasingly complex and advanced systems. This has been also reflected in the technology of Unmanned Aerial Vehicles (UAVs), where the growing demand for more reliable performance necessitates the development of sophisticated techniques that provide fault diagnosis and fault tolerance in a timely and accurate manner. Typically, a UAV consists of three types of subsystems: actuators, main structure and sensors. Therefore, a fault-monitoring system must be specifically designed to supervise and debug each of these subsystems, so that any faults can be addressed before they lead to disastrous consequences. In this survey article, we provide a detailed overview of recent advances and studies regarding fault diagnosis, Fault-Tolerant Control (FTC) and anomaly detection for UAVs. Concerning fault diagnosis, our interest is mainly focused on sensors and actuators, as these subsystems are mostly prone to faults, while their healthy operation usually ensures the smooth and reliable performance of the aerial vehicle.

Nonlinear Extended State Observer Based Prescribed Performance Control for Quadrotor UAV with Attitude and Input Saturation Constraints

“…5, are obtained from the proposed ESO in previous section. For clarity, the following notations are defined in this section: (1) xi , i = 1, . .…”

“…Unmanned aerial vehicles (UAVs) have attracted significant attention from research institutes, companies and industries over the last decade, owing to their wide applications in environment mapping, safety monitoring, disaster preventive management, service delivery, etc. [1]. The quadrotor UAV is the most widely used vertical take-off and landing aircraft with flexible maneuverability.…”

Fault-Tolerant Multilevel Converter to Feed a Switched Reluctance Machine

“…These fault-tolerant schemes usually rely on redundant components, such as switches and relays [35,36]. Further, fault detection and tolerant systems have been considered very important in a huge number of applications [37][38][39][40]. The same is applied to the systems that are included in the SRM machine and correspondent drive.…”

Multirotor Unmanned Aerial Vehicle Configuration Optimization Approach for Development of Actuator Fault-Tolerant Structure

“…An effective way to mitigate this problem is to develop a fault-tolerant system that can endure a failure and continue to operate without significant performance degradation. The article by Fourlas et al [1] presents a complete survey on UAV fault-tolerant systems.…”