Sensor fault diagnosis and fault tolerant control using intelligent-output-estimator applied on quadrotor UAV

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

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

12 Citations (Scopus)

Abstract

In this paper, Fault Diagnosis and Fault Tolerant Control algorithms are proposed to compensate for a bias type sensor fault applied on the quadrotor vehicle. A novel output estimator design called intelligent Output-Estimator (iOE) is introduced to detect and isolate the sensor fault. The estimation of the fault magnitude is done through a proposed structured algorithm that senses the maximum error deviation between the output estimation and the measured outputs. Then the fault compensation is achieved by regenerating the desired path. Real-flight results validated the proposed algorithms and showed the sensor fault accommodation process.

Original languageEnglish
Title of host publication2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1117-1123
Number of pages7
ISBN (Electronic)9781467393331
DOIs
Publication statusPublished - Jun 30 2016
Event2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016 - Arlington, United States
Duration: Jun 7 2016Jun 10 2016

Publication series

Name2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016

Other

Other2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
Country/TerritoryUnited States
CityArlington
Period6/7/166/10/16

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

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