Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer

Cen Zhaohui; Hassan Noura; Tri Bagus Susilo; Younes Al Younes

doi:10.1109/CCDC.2013.6561454

Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer

Cen Zhaohui, Hassan Noura, Tri Bagus Susilo, Younes Al Younes

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Citations (Scopus)

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	https://doi.org/10.1109/CCDC.2013.6561454
Publication status	Published - 28 Aug 2013
Event	2013 25th Chinese Control and Decision Conference, CCDC 2013 - Guiyang, China Duration: 25 May 2013 → 27 May 2013

Publication series

Name	2013 25th Chinese Control and Decision Conference, CCDC 2013

Other

Other	2013 25th Chinese Control and Decision Conference, CCDC 2013
Country	China
City	Guiyang
Period	25/5/13 → 27/5/13

Fingerprint

Keywords

Engineering Implementation
Fault Detection and Isolation
Nonlinear Observer
Quadrotor

ASJC Scopus subject areas

Control and Systems Engineering

Cite this

Zhaohui, C., Noura, H., Susilo, T. B., & Younes, Y. A. (2013). Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer. In 2013 25th Chinese Control and Decision Conference, CCDC 2013 (pp. 2971-2975). [6561454] (2013 25th Chinese Control and Decision Conference, CCDC 2013). https://doi.org/10.1109/CCDC.2013.6561454

Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer. / Zhaohui, Cen; Noura, Hassan; Susilo, Tri Bagus; Younes, Younes Al.

2013 25th Chinese Control and Decision Conference, CCDC 2013. 2013. p. 2971-2975 6561454 (2013 25th Chinese Control and Decision Conference, CCDC 2013).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Zhaohui, C, Noura, H, Susilo, TB & Younes, YA 2013, Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer. in 2013 25th Chinese Control and Decision Conference, CCDC 2013., 6561454, 2013 25th Chinese Control and Decision Conference, CCDC 2013, pp. 2971-2975, 2013 25th Chinese Control and Decision Conference, CCDC 2013, Guiyang, China, 25/5/13. https://doi.org/10.1109/CCDC.2013.6561454

@inproceedings{a0fe53bc42f447cfa7321e596451720f,

title = "Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer",

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.",

keywords = "Engineering Implementation, Fault Detection and Isolation, Nonlinear Observer, Quadrotor",

author = "Cen Zhaohui and Hassan Noura and Susilo, {Tri Bagus} and Younes, {Younes Al}",

year = "2013",

month = aug,

day = "28",

doi = "10.1109/CCDC.2013.6561454",

language = "English",

isbn = "9781467355322",

series = "2013 25th Chinese Control and Decision Conference, CCDC 2013",

pages = "2971--2975",

booktitle = "2013 25th Chinese Control and Decision Conference, CCDC 2013",

note = "2013 25th Chinese Control and Decision Conference, CCDC 2013 ; Conference date: 25-05-2013 Through 27-05-2013",

}

TY - GEN

T1 - Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer

AU - Zhaohui, Cen

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

T3 - 2013 25th Chinese Control and Decision Conference, CCDC 2013

SP - 2971

EP - 2975

BT - 2013 25th Chinese Control and Decision Conference, CCDC 2013

T2 - 2013 25th Chinese Control and Decision Conference, CCDC 2013

Y2 - 25 May 2013 through 27 May 2013

ER -

Access to Document

10.1109/CCDC.2013.6561454