Use of Unknown Input Observer for Actuator Fault Detection in ANCL Helicopter

The interest in unmanned aerial vehicle (UAV) systems with helicopter-like capabilities for both civil and military application, is becoming well established. In order to provide safe flight on a helicopter, it is necessary to detect its faults and make emergency landings at the appropriate time. The goal in this paper is detection of actuator fault in ANCL helicopter. For this purpous, two unknown input observer is designed. The first observer is used to detect faults in longitudinal and lateral actuator and the secound for detect a fault in the pedal actuator. The result show that observer is able to detect and isolate fault in ANCL actuators.