Abstract
This paper proposed an Engineering Implementation scheme on fault diagnosis for a real quadrotor Unmanned Aerial Vehicle (UAV) with actuators fault. A novel nonlinear observer is utilized to estimate the state of the system and to generate fault offset residuals for fault diagnosis. The Fault Diagnosis (FD) rules based on residuals are designed to isolate and estimate faults. Unlike former research work in FD for quadtrotors, the proposed FD is based on real flying data but not model simulation data and still have an acceptable FD accuracy. Experiments for the rotor fault have been carried out to show the performance and effectiveness of the proposed observer method and the results are discussed.
| Original language | English |
|---|---|
| Title of host publication | 2013 25th Chinese Control and Decision Conference, CCDC 2013 |
| Pages | 2971-2975 |
| Number of pages | 5 |
| DOIs | |
| Publication status | Published - 28 Aug 2013 |
| Externally published | Yes |
| Event | 2013 25th Chinese Control and Decision Conference, CCDC 2013 - Guiyang, China Duration: 25 May 2013 → 27 May 2013 |
Other
| Other | 2013 25th Chinese Control and Decision Conference, CCDC 2013 |
|---|---|
| Country | China |
| City | Guiyang |
| Period | 25/5/13 → 27/5/13 |
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Keywords
- Engineering Implementation
- Fault Detection and Isolation
- Nonlinear Observer
- Quadrotor
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer. / Cen, Zhaohui; Noura, Hassan; Susilo, Tri Bagus; Younes, Younes Al.
2013 25th Chinese Control and Decision Conference, CCDC 2013. 2013. p. 2971-2975 6561454.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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TY - GEN
T1 - Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer
AU - Cen, Zhaohui
AU - Noura, Hassan
AU - Susilo, Tri Bagus
AU - Younes, Younes Al
PY - 2013/8/28
Y1 - 2013/8/28
N2 - This paper proposed an Engineering Implementation scheme on fault diagnosis for a real quadrotor Unmanned Aerial Vehicle (UAV) with actuators fault. A novel nonlinear observer is utilized to estimate the state of the system and to generate fault offset residuals for fault diagnosis. The Fault Diagnosis (FD) rules based on residuals are designed to isolate and estimate faults. Unlike former research work in FD for quadtrotors, the proposed FD is based on real flying data but not model simulation data and still have an acceptable FD accuracy. Experiments for the rotor fault have been carried out to show the performance and effectiveness of the proposed observer method and the results are discussed.
AB - This paper proposed an Engineering Implementation scheme on fault diagnosis for a real quadrotor Unmanned Aerial Vehicle (UAV) with actuators fault. A novel nonlinear observer is utilized to estimate the state of the system and to generate fault offset residuals for fault diagnosis. The Fault Diagnosis (FD) rules based on residuals are designed to isolate and estimate faults. Unlike former research work in FD for quadtrotors, the proposed FD is based on real flying data but not model simulation data and still have an acceptable FD accuracy. Experiments for the rotor fault have been carried out to show the performance and effectiveness of the proposed observer method and the results are discussed.
KW - Engineering Implementation
KW - Fault Detection and Isolation
KW - Nonlinear Observer
KW - Quadrotor
UR - http://www.scopus.com/inward/record.url?scp=84882788239&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84882788239&partnerID=8YFLogxK
U2 - 10.1109/CCDC.2013.6561454
DO - 10.1109/CCDC.2013.6561454
M3 - Conference contribution
AN - SCOPUS:84882788239
SN - 9781467355322
SP - 2971
EP - 2975
BT - 2013 25th Chinese Control and Decision Conference, CCDC 2013
ER -