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

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.