Sensor fault diagnostic and Fault-Tolerant Control for the altitude control of a quadrotor UAV

Ahmad Drak, Hassan Noura, Mohammad Hejase, Younes Al Younes

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

10 Citations (Scopus)

Abstract

The two major occurring faults with relevance to UAVs are actuator and sensor faults. This paper presents a fault diagnostic and fault tolerant control algorithm on the altitude sensor of a quadrotor UAV. The quadrotor used is QUANSER's Qball-X4, which is part of the Unmanned Vehicles Lab (UVL) at UAE University. The proposed fault tolerant control is based on hardware redundancy of three altitude sensors. Residuals are generated based on the three altitude measurements, which are then used to compute indicators about fault occurrences. These indicators serve the fault isolation algorithm to determine the faulty sensor, and in return allows for automatic switching between the sensors in case the faulty sensor is used in the closed-loop system. The effectiveness of the proposed algorithm is demonstrated by means of real flight tests.

Original languageEnglish
Title of host publication2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479984220
DOIs
Publication statusPublished - Mar 12 2015
Event2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015 - Muscat, Oman
Duration: Feb 1 2015Feb 4 2015

Publication series

Name2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015

Other

Other2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015
Country/TerritoryOman
CityMuscat
Period2/1/152/4/15

Keywords

  • fault daignositc
  • fault tolerant-control
  • hardware redundancy
  • quadrotor

ASJC Scopus subject areas

  • Energy(all)
  • Engineering(all)
  • Computer Science(all)

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