A design approach of multi-observers-based multi-faults estimation for over-actuated systems

This paper presents a design approach of fault estimation observer aimed at dealing with the difficulty of fault diagnosis of the over-actuator using the 3-DOF quad-rotor helicopter as an object. Actual faults are reconstructed by designing four fault estimators to capture the fault information, and then processing some auxiliary operations, which can estimate not only the single actuator fault but also the multiple actuators faults. The simulation results show the effectiveness of the proposed method.