Sensor fault detection and isolation in the quadrotor vehicle using nonlinear identity observer approach

Author

Al Younes, Younes ; Noura, H. ; Rabhi, A. ; El Hajjaji, A. ; Al Hussien, Nedaa

Author_Institution

Mech. Eng. Fac., Higher Colleges of Technol., Al Ain, United Arab Emirates

fYear

2013

fDate

9-11 Oct. 2013

Firstpage

486

Lastpage

491

Abstract

The Fault Detection and Isolation (FDI) of a quadrotor vehicle, which is described by a nonlinear model, are tackled in this paper. The nonlinear identity observer is utilized to detect the various types of sensors faults, and the Generalized Observer Scheme (GOS) is used to isolate the faulty sensor. The robustness of the observer and its scheme is investigated through several simulation results to build the Decision- Making Unit (DMU) for the residuals. Various simulation results have validated the FDI method and shown the system performance towards different fault scenarios.

Keywords

aircraft control; decision making; fault diagnosis; observers; robust control; sensors; DMU; FDI method; GOS; decision-making unit; generalized observer scheme; nonlinear identity observer approach; nonlinear model; observer robustness; quadrotor vehicle; sensor fault detection and isolation; Electronic mail; Vehicles; Nonlinear Observer; Observer Scheme; Quadrotor Vehicle; Structured Residuals;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Fault-Tolerant Systems (SysTol), 2013 Conference on

Conference_Location

Nice

Type

conf

DOI

10.1109/SysTol.2013.6693948

Filename

6693948