Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer

Cen Zhaohui, Hassan Noura, Tri Bagus Susilo, Younes Al Younes

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

17 Citations (Scopus)

Abstract

This paper proposed an Engineering Implementation scheme on fault diagnosis for a real quadrotor Unmanned Aerial Vehicle (UAV) with actuators fault. A novel nonlinear observer is utilized to estimate the state of the system and to generate fault offset residuals for fault diagnosis. The Fault Diagnosis (FD) rules based on residuals are designed to isolate and estimate faults. Unlike former research work in FD for quadtrotors, the proposed FD is based on real flying data but not model simulation data and still have an acceptable FD accuracy. Experiments for the rotor fault have been carried out to show the performance and effectiveness of the proposed observer method and the results are discussed.

Original languageEnglish
Title of host publication2013 25th Chinese Control and Decision Conference, CCDC 2013
Pages2971-2975
Number of pages5
DOIs
Publication statusPublished - Aug 28 2013
Event2013 25th Chinese Control and Decision Conference, CCDC 2013 - Guiyang, China
Duration: May 25 2013May 27 2013

Publication series

Name2013 25th Chinese Control and Decision Conference, CCDC 2013

Other

Other2013 25th Chinese Control and Decision Conference, CCDC 2013
Country/TerritoryChina
CityGuiyang
Period5/25/135/27/13

Keywords

  • Engineering Implementation
  • Fault Detection and Isolation
  • Nonlinear Observer
  • Quadrotor

ASJC Scopus subject areas

  • Control and Systems Engineering

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