An Adaptive Thau Observer for estimating the time-varying LOE fault of quadrotor actuators

Zhaohui Cen, Hassan Noura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

Fault Estimation (FE), as the central part of an Active Fault Tolerant Control System (AFTCS), detects and estimates the magnitude of a fault when a fault/failure occurs. Especially for a quadrotor UAV (Unmanned Aerial Vehicle) system, it is necessary and helpful to estimate fault severity when its actuator has a partial loss of effectiveness (LOE) and time-varying fault. In this paper, a novel Adaptive Thau Observer (ATO) is proposed to detect the Partial Loss of effectiveness fault and estimate the time-varying fault severity of quadrotor actuators. Unlike earlier Fault Diagnosis (FD) methods in quadrotors, The FD scheme based on ATO cannot only isolate fault actuators, but also estimate the fault severity. So it is useful to implement in AFTCS of quadrotors. Different simulations have been carried out to show the performance and effectiveness of the proposed method.

Original languageEnglish
Title of host publication2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013
Pages468-473
Number of pages6
DOIs
Publication statusPublished - Dec 1 2013
Event2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013 - Nice, France
Duration: Oct 9 2013Oct 11 2013

Publication series

NameConference on Control and Fault-Tolerant Systems, SysTol
ISSN (Print)2162-1195
ISSN (Electronic)2162-1209

Other

Other2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013
Country/TerritoryFrance
CityNice
Period10/9/1310/11/13

ASJC Scopus subject areas

  • Computer Science Applications
  • Hardware and Architecture
  • Software
  • Control and Systems Engineering

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