Integrated Fault Detection and Diagnosis of an Unmanned Aerial Vehicle using Time Difference of Arrival

Kantue, Paulin; Pedro, Jimoh O.

doi:10.1109/icstcc50638.2020.9259777

Cited by 5 publications

(5 citation statements)

References 17 publications

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“…Given the incipient fault type, this could be associated with the dynamic behaviour of the faulty propeller ω p on the naturally unstable quadcopter yaw dynamics. A detailed analysis of the impact on the RBFNN variance and bias was made by Kantue and Pedro (2020). In summary, robustness of the implemented TDOA to the RBFNN potential inability to capture the underlying dynamics is manifested through the computation of the TDOA matrix Q.…”

Section: Resultsmentioning

confidence: 99%

“…Golden section search with multimodal capability. Given the construction of the CFA model identification method, the maximisation of the cost function net contribution, defined as ΔJ k+1 (ω), will be achieved by finding the optimal value of ω (p) k+1 through a line search procedure (Kantue and Pedro, 2020). If a function f (x) is defined as unimodal, the maximum value of such a function max f (x) exists within a specified interval [a, b].…”

Section: 2mentioning

confidence: 99%

“…Such a maximisation problem can be solved by the golden section search (GSS) algorithm by finding a subinterval [x 1 , x 2 ]. A detailed explanation of the GSS procedure can be found the work of Kantue and Pedro (2020). Given that the CFA algorithm introduces nonlinearities in the computation of the cost function net contribution such as D(ω) → 0:…”

Section: 2mentioning

confidence: 99%

“…To mitigate the limitations of the GSS algorithm, a meta-heuristic search was developed by Kantue and Pedro (2020). In summary, a function peak finder algorithm enables the computation of the GSS interval [a, b] by using a moving window search space and monitors the line gradient within that window interval.…”

Section: 2mentioning

confidence: 99%

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Integrated fault-tolerant control of a quadcopter UAV with incipient actuator faults

Kantue,

Pedro

2022

International Journal of Applied Mathematics and Computer Scien

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An integrated approach to the fault-tolerant control (FTC) of a quadcopter unmanned aerial vehicle (UAV) with incipient actuator faults is presented. The framework is comprised of a radial basis function neural network (RBFNN) fault detection and diagnosis (FDD) module and a reconfigurable flight controller (RFC) based on the extremum seeking control approach. The dynamics of a quadcopter subject to incipient actuator faults are estimated using a nonlinear identification method comprising a continuous forward algorithm (CFA) and a modified golden section search (GSS) one. A time-difference-ofarrival (TDOA) method and the post-fault system estimates are used within the FDD module to compute the fault location and fault magnitude. The impact of bi-directional uncertainty and FDD detection time on the overall FTC performance and system recovery is assessed by simulating a quadcopter UAV during a trajectory tracking mission and is found to be robust against incipient actuator faults during straight and level flight and tight turns.

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Section: Resultsmentioning

confidence: 99%

Section: 2mentioning

confidence: 99%

Section: 2mentioning

confidence: 99%

Section: 2mentioning

confidence: 99%

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Integrated fault-tolerant control of a quadcopter UAV with incipient actuator faults

Kantue,

Pedro

2022

International Journal of Applied Mathematics and Computer Scien

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“…Kantue et al in [114] present an integrated approach to UAV fault detection and diagnosis. To detect, isolate and identify an incipient fault in a three-phase BLDC motor, the authors use the time difference of arrival principle.…”

Section: Data-based Methodsmentioning

confidence: 99%

UAV Fault Detection Methods, State-of-the-Art

Puchalski

Giernacki

2022

Drones

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The continual expansion of the range of applications for unmanned aerial vehicles (UAVs) is resulting in the development of more and more sophisticated systems. The greater the complexity of the UAV, the greater the likelihood that a component will fail. Due to the fact that drones often operate in close proximity to humans, the reliability of flying robots, which directly affects the level of safety, is becoming more important. This review article presents recent research works on fault detection on unmanned flying systems. They include papers published between January 2016 and August 2022. Web of Science and Google Scholar databases were used to search for articles. Terminology related to fault detection of unmanned aerial vehicles was used as keywords. The articles were analyzed, each paper was briefly summarized and the most important details concerning each of the described articles were summarized in the table.

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A sound based method for fault detection with statistical feature extraction in UAV motors

2021

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Integrated Fault Detection and Diagnosis of an Unmanned Aerial Vehicle using Time Difference of Arrival

Cited by 5 publications

References 17 publications

Integrated fault-tolerant control of a quadcopter UAV with incipient actuator faults

Integrated fault-tolerant control of a quadcopter UAV with incipient actuator faults

UAV Fault Detection Methods, State-of-the-Art

A sound based method for fault detection with statistical feature extraction in UAV motors

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