An actuator fault detection, isolation and estimation system for an UAV using input observers

Bateman, François; Noura, Hassan; Ouladsine, Mustapha

doi:10.23919/ecc.2007.7068717

Cited by 8 publications

(3 citation statements)

References 13 publications

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“…Consequently, the aircraft safety accidents caused by actuator faults have also increased dramatically all over the world, having negative impacts on human and environmental systems. Therefore, research into fault-tolerant control (FTC) technology for mUAV has become critical for improving the safety and reliability of mUAV [3]- [6].…”

Section: Introductionmentioning

confidence: 99%

An Actuator Fault Detection and Reconstruction Scheme for Hex-Rotor Unmanned Aerial Vehicle

et al. 2019

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The detection and the reconstruction of actuator faults in a flight control system are crucial to avoid negative impacts on the aircraft itself, as well as human and environmental systems. In this paper, an actuator fault detection and reconstruction scheme based on fault classification for the hex-rotor unmanned aerial vehicle are designed. First, the fault type of actuator is analyzed and classified, then an actuator fault model is established based on multiple fault classification. Second, a fault detection and reconstruction (FDR) scheme for the hex-rotor unmanned aerial vehicle is proposed. In the proposed scheme, a fault observer group based on an extended Kalman filter (EKF) is designed for fault detection and isolation, and the flight state feedback required by the fault observer group is provided by the multi-sensor navigation unit (MSNU). Then, a fault reconstruction algorithm of the actuator is proposed by using the output of the fault observer group. The designed FDR system is applied to hex-rotor unmanned aerial vehicle prototype for its evaluation. The simulation results show that the proposed design is capable of fault detection and the reconstruction of actuator faults, and the actual flight verifies the effectiveness of the proposed methods.INDEX TERMS Unmanned aerial vehicle, actuator fault, multi-sensor navigation unit, fault observer, EKF, reconfigurable controller.

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Section: Introductionmentioning

confidence: 99%

An Actuator Fault Detection and Reconstruction Scheme for Hex-Rotor Unmanned Aerial Vehicle

et al. 2019

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“…In [6], a linear input decoupled functional observer is proposed to estimate actuators failures of UAV. The proposed method is based on the linearization of the model around an operating point.…”

Section: Introductionmentioning

confidence: 99%

Simultaneous observer based sensor diagnosis and speed estimation of Unmanned Aerial Vehicle

Rafaralahy

Richard

Boutayeb

et al. 2008

2008 47th IEEE Conference on Decision and Control

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In this contribution we investigate the problem of simultaneous observer based sensor diagnosis and speed estimation of Unmanned Aerial Vehicle (UAV). The main features lie in the use of a useful bank of reduced order observers to detect and isolate faulty sensors and in the same time to provide unbiased speed estimation of UAV from accelerometers. From a structural analysis, we provide all trajectories for which faults would be detected and estimated. The theoretical result is summarized into the stability analysis, established through the Lyapunov approach and Barbalat lemma. The existence condition is expressed in terms of physical variables of the UAV. Performances and easiness of implementation of the proposed technique are shown through a quadrotor UAV.

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“…For the use of observers in faults diagnosis, we can mention for exemple Sharma and Aldeen [2007], in which two cascaded sliding mode observers are proposed first to estimate the disturbances (effect of wind) and second to reconstruct actuators faults. In Bateman et al [2007], a linear input decoupled functional observer is proposed to estimate actuators failures of UAV. The proposed method is based on the linearization of the model around an operating point.…”

Section: Introductionmentioning

confidence: 99%

A simple time-varying observer for speed estimation of UAV

Boutayeb¹,

Richard²,

Rafaralahy³

et al. 2008

IFAC Proceedings Volumes

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An actuator fault detection, isolation and estimation system for an UAV using input observers

Cited by 8 publications

References 13 publications

An Actuator Fault Detection and Reconstruction Scheme for Hex-Rotor Unmanned Aerial Vehicle

An Actuator Fault Detection and Reconstruction Scheme for Hex-Rotor Unmanned Aerial Vehicle

Simultaneous observer based sensor diagnosis and speed estimation of Unmanned Aerial Vehicle

A simple time-varying observer for speed estimation of UAV

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