Sensor fault detection and isolation in the quadrotor vehicle using nonlinear identity observer approach

Younes Al Younes, Hassan Noura, Abdelhamid Rabhi, Ahmed El Hajjaji, Nedaa Al Hussien

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

20 Citations (Scopus)

Abstract

The Fault Detection and Isolation (FDI) of a quadrotor vehicle, which is described by a nonlinear model, are tackled in this paper. The nonlinear identity observer is utilized to detect the various types of sensors faults, and the Generalized Observer Scheme (GOS) is used to isolate the faulty sensor. The robustness of the observer and its scheme is investigated through several simulation results to build the Decision- Making Unit (DMU) for the residuals. Various simulation results have validated the FDI method and shown the system performance towards different fault scenarios.

Original languageEnglish
Title of host publication2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013
Pages486-491
Number of pages6
DOIs
Publication statusPublished - 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

Keywords

  • Nonlinear Observer
  • Observer Scheme
  • Quadrotor Vehicle
  • Structured Residuals

ASJC Scopus subject areas

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

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