Title :
An Adaptive Thau Observer for estimating the time-varying LOE fault of quadrotor actuators
Author :
Zhaohui Cen ; Noura, H.
Author_Institution :
Dept. of Electr. Eng., UAE Univ., Al Ain, United Arab Emirates
Abstract :
Fault Estimation (FE), as the central part of an Active Fault Tolerant Control System (AFTCS), detects and estimates the magnitude of a fault when a fault/failure occurs. Especially for a quadrotor UAV (Unmanned Aerial Vehicle) system, it is necessary and helpful to estimate fault severity when its actuator has a partial loss of effectiveness (LOE) and time-varying fault. In this paper, a novel Adaptive Thau Observer (ATO) is proposed to detect the Partial Loss of effectiveness fault and estimate the time-varying fault severity of quadrotor actuators. Unlike earlier Fault Diagnosis (FD) methods in quadrotors, The FD scheme based on ATO cannot only isolate fault actuators, but also estimate the fault severity. So it is useful to implement in AFTCS of quadrotors. Different simulations have been carried out to show the performance and effectiveness of the proposed method.
Keywords :
autonomous aerial vehicles; fault diagnosis; fault tolerant control; helicopters; observers; time-varying systems; AFTCS; ATO; FD scheme; FE; active fault tolerant control system; adaptive thau observer; fault diagnosis methods; fault estimation; fault severity; loss of effectiveness; quadrotor UAV; quadrotor actuators; time-varying LOE fault; time-varying fault severity; unmanned aerial vehicle; Observers;
Conference_Titel :
Control and Fault-Tolerant Systems (SysTol), 2013 Conference on
Conference_Location :
Nice
DOI :
10.1109/SysTol.2013.6693918