scholarly journals Set-based fault detection and isolation for detectable linear parameter-varying systems

2017 ◽  
Vol 27 (18) ◽  
pp. 4381-4397 ◽  
Author(s):  
Daniel Silvestre ◽  
Paulo Rosa ◽  
João P. Hespanha ◽  
Carlos Silvestre
Keyword(s):  
Fault Detection ◽  
Fault Detection And Isolation ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Linear Parameter Varying Systems ◽  
Parameter Varying

scholarly journals Actuator fault detection and isolation on a quadrotor unmanned aerial vehicle modeled as a linear parameter-varying system

2019 ◽  
Vol 52 (9-10) ◽  
pp. 1228-1239 ◽  
Author(s):  
Julio Alberto Guzmán-Rabasa ◽  
Francisco Ronay López-Estrada ◽  
Brian Manuel González-Contreras ◽  
Guillermo Valencia-Palomo ◽  
Mohammed Chadli ◽  
...  
Keyword(s):  
Fault Detection ◽  
Unmanned Aerial Vehicle ◽  
Fault Detection And Diagnosis ◽  
Fault Detection And Isolation ◽  
Actuator Fault ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Aerial Vehicle ◽  
Parameter Varying ◽  
Detection And Diagnosis

This paper presents the design of a fault detection and diagnosis system for a quadrotor unmanned aerial vehicle under partial or total actuator fault. In order to control the quadrotor, the dynamic system is divided in two subsystems driven by the translational and the rotational dynamics, where the rotational subsystem is based on a linear parameter-varying model. A robust linear parameter-varying observer applied to the rotational subsystem is considered to detect actuator faults, which can occur as total failures (loss of a propeller or a motor) or partial faults (degradation). Furthermore, fault diagnosis is done by analyzing the displacements of the roll and pitch angles. Numerical experiments are carried out in order to illustrate the effectiveness of the proposed methodology.

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