Article: Fault diagnosis for a UAV using unknown input observer Journal: International Journal of Sustainable Aviation (IJSA) 2016 Vol.2 No.4 pp.309 - 326 Abstract: In this paper a fault tolerant control strategy for a quadrotor is proposed in the presence of actuator faults. A linear mathematical model which is derived from nonlinear model by calculating the Jacobian matrix of the system is used to represent the quadrotor dynamics in MATLAB/Simulink environment. Observer-based state estimation approach which is widely used in fault tolerant area is chosen to detect and isolate faults in quadrotor system. Generalised observer scheme (GOS)-based unknown input observer (UIO) whose principle to make the state estimation error de-coupled from the unknown inputs (disturbances) is utilised to detect and isolate the actuator faults. In fault-free condition, linear quadratic tracking (LQT) is preferred to stabilise the quadrotor to obtain faster system response. When it comes to faulty case, LQT cannot handle compensation of steady-state error owing to power loss in actuator. Therefore linear quadratic regulator (LQR) with integral action is selected by fault diagnosis unit to compensate steady-state error due to actuator fault. Simulation results are presented to demonstrate the performance of the proposed fault tolerant control strategy. Inderscience Publishers - linking academia, business and industry through research

Title: Fault diagnosis for a UAV using unknown input observer

Authors: Emre Kiyak; Ahmet Ermeydan

Addresses: Faculty of Aeronautics and Astronautics, Anadolu University, 26470 Eskisehir, Turkey ' Faculty of Aeronautics and Astronautics, Anadolu University, 26470 Eskisehir, Turkey

Abstract: In this paper a fault tolerant control strategy for a quadrotor is proposed in the presence of actuator faults. A linear mathematical model which is derived from nonlinear model by calculating the Jacobian matrix of the system is used to represent the quadrotor dynamics in MATLAB/Simulink environment. Observer-based state estimation approach which is widely used in fault tolerant area is chosen to detect and isolate faults in quadrotor system. Generalised observer scheme (GOS)-based unknown input observer (UIO) whose principle to make the state estimation error de-coupled from the unknown inputs (disturbances) is utilised to detect and isolate the actuator faults. In fault-free condition, linear quadratic tracking (LQT) is preferred to stabilise the quadrotor to obtain faster system response. When it comes to faulty case, LQT cannot handle compensation of steady-state error owing to power loss in actuator. Therefore linear quadratic regulator (LQR) with integral action is selected by fault diagnosis unit to compensate steady-state error due to actuator fault. Simulation results are presented to demonstrate the performance of the proposed fault tolerant control strategy.

Keywords: flight control; actuator FDI; fault detection; fault isolation; quadrotor dynamics; controller design; fault tolerant control; fault diagnosis; UAVs; unmanned aerial vehicles; unknown input observer; actuator faults; quadrotors; mathematical modelling; simulation; linear quadratic regulator; LQR.

DOI: 10.1504/IJSA.2016.082198

International Journal of Sustainable Aviation, 2016 Vol.2 No.4, pp.309 - 326

Received: 21 Jun 2016
Accepted: 02 Oct 2016
Published online: 12 Feb 2017 *

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Title: Fault diagnosis for a UAV using unknown input observer

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