Actuator fault detection in autonomous helicopters

Heredia, Guillermo; Remufß, Volker; Ollero, A.; Mahtani, R.; Musial, Marek

doi:10.1016/s1474-6670(17)32040-2

Cited by 23 publications

(23 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Drift faults mean the actuator output value changes with the attitude of the helicopter, like a weather-vane changes with the wind. Heredia et al [40] proposed a different way to classify actuator faults according to the location of actuators and whether they are yet stuck or not.…”

Section: Fault Diagnosis Approachesmentioning

confidence: 99%

“…Heredia et al [38,40] use an input-output model and observer for actuator faults estimation. They used the same observer for output prediction as [38,39].…”

Section: Actuator Faultsmentioning

confidence: 99%

“…If the fault/failure is not detected and accommodated, the helicopter may crash [40]. The faults or failures detection and isolation are essential and Fault Diagnosis (FD) techniques have been widely used in process industry to detect faults in actuators, sensors or components.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Review on Fault Diagnosis and Fault Tolerant Control Methods for Single-rotor Aerial Vehicles

Theilliol

et al. 2013

J Intell Robot Syst

View full text Add to dashboard Cite

Faults or failures are inevitable to occur and their prompt detection and isolation are essential for the dependability of various systems and for avoiding damages to the system itself, persons and the environment. Therefore, the safety of helicopter platforms have attracted the attention of many researchers in the past two decades. In order to deal with these problems, this paper presents an overview of the recent development and current researches in the field of fault diagnosis, including analytical/model-based, signal processingbased and knowledge-based techniques, and also passive/active fault-tolerant control approaches.

show abstract

Section: Fault Diagnosis Approachesmentioning

confidence: 99%

“…Heredia et al [38,40] use an input-output model and observer for actuator faults estimation. They used the same observer for output prediction as [38,39].…”

Section: Actuator Faultsmentioning

confidence: 99%

See 1 more Smart Citation

A Review on Fault Diagnosis and Fault Tolerant Control Methods for Single-rotor Aerial Vehicles

Theilliol

et al. 2013

J Intell Robot Syst

View full text Add to dashboard Cite

show abstract

“…A drift fault means that the actuator's output value changes along with the flight state of the UH (Qi et al, 2014). From another point of view, Heredia et al (2004) classify actuator faults according to the location of the actuators and whether or not they have been stuck: (i) the servo involved in the rolling (or pitching) motion has a fault, but does not get stuck, (ii) the servo involved in the rolling (or pitching) motion actually gets stuck, so neither the collective nor the rolling (or pitching) actuators will work, (iii) the collective actuator can no longer work or it may work with a limited range, due to a fault in the mechanical links. The first two kinds of faults are investigated in this paper.…”

Section: Introductionmentioning

confidence: 99%

“…The key idea of these approaches is to generate a residue according to outputs of a real system and the known model. Based on the way of generating the residue, the FDD approaches can be classified into (i) parity space based methods, (ii) observer based methods (Heredia et al, 2004;Arne and Jürgen, 2011), (iii) estimation based methods (Ducard and Geering, 2008;Qi et al, 2007;Campbell et al, 2007).…”

Section: Introductionmentioning

confidence: 99%

Simultaneous State and Parameter Estimation Based Actuator Fault Detection and Diagnosis for an Unmanned Helicopter

Song

et al. 2015

International Journal of Applied Mathematics and Computer Science

View full text Add to dashboard Cite

Simultaneous state and parameter estimation based actuator fault detection and diagnosis (FDD) for single-rotor unmanned helicopters (UHs) is investigated in this paper. A literature review of actuator FDD for UHs is given firstly. Based on actuator healthy coefficients (AHCs), which are introduced to represent actuator faults, a combined dynamic model is established with the augmented state containing both the flight state and AHCs. Then the actuator fault detection and diagnosis problem is transformed into a general nonlinear estimation one: given control inputs and the measured flight state contaminated by measurement noises, estimate both the flight state and AHCs recursively in each time-step, which is also known as the simultaneous state and parameter estimation problem. The estimated AHCs can further be used for fault tolerant control (FTC). Based on the existing widely used nonlinear estimation methods such as the unscented Kalman filter (UKF) and the extended set-membership filter (ESMF), three kinds of adaptive schemes (KF-UKF, MIT-UKF and MIT-ESMF) are proposed by our team to improve the actuator FDD performance. A comprehensive comparative study on these different estimation methods is given in detail to illustrate their advantages and disadvantages when applied to unmanned helicopter actuator FDD.

show abstract

Experimental Test of a Two-Stage Kalman Filter for Actuator Fault Detection and Diagnosis of an Unmanned Quadrotor Helicopter

Amoozgar

Chamseddine

Zhang

2012

J Intell Robot Syst

141

View full text Add to dashboard Cite

Actuator fault detection in autonomous helicopters

Cited by 23 publications

References 10 publications

A Review on Fault Diagnosis and Fault Tolerant Control Methods for Single-rotor Aerial Vehicles

A Review on Fault Diagnosis and Fault Tolerant Control Methods for Single-rotor Aerial Vehicles

Simultaneous State and Parameter Estimation Based Actuator Fault Detection and Diagnosis for an Unmanned Helicopter

Experimental Test of a Two-Stage Kalman Filter for Actuator Fault Detection and Diagnosis of an Unmanned Quadrotor Helicopter

Contact Info

Product

Resources

About