Title :
Actuator fault diagnosis and control of a quadrotor
Author :
Souza Candido, Adilson ; Kawakami Harrop Galvao, Roberto ; Yoneyama, Takashi
Author_Institution :
Dept. of Electron. & Comput. Eng., Inst. Tecnol. de Aeronaut. - ITA, São José dos Campos, Brazil
Abstract :
This paper addresses the problem of actuator fault diagnosis and control of a realistic nonlinear six degree-of-freedom quadrotor helicopter model, based on interacting multiple model (IMM) filter and a switching multi-model predictive controller (MMPC). The proposed methods were evaluated by numerical simulation, and the faults were modeled by increasing the friction and temperature of one rotor. The results were satisfactory in terms of fault detection and diagnosis while performing accurate reference tracking.
Keywords :
actuators; autonomous aerial vehicles; fault diagnosis; fault tolerant control; helicopters; nonlinear control systems; numerical analysis; predictive control; rotors (mechanical); IMM filter; MMPC; actuator fault diagnosis; fault detection; interacting multiple model filter; nonlinear six degree-of-freedom quadrotor helicopter model; numerical simulation; quadrotor control; rotor friction; rotor temperature; switching multi-model predictive controller; Actuators; Fault detection; Friction; Numerical models; Predictive models; Switches; Unmanned quadrotor helicopter; actuator fault and brushless dc motor; fault diagnosis; interacting multiple model filter; multi-model predictive controller;
Conference_Titel :
Industrial Informatics (INDIN), 2014 12th IEEE International Conference on
Conference_Location :
Porto Alegre
DOI :
10.1109/INDIN.2014.6945530
