KF-based Adaptive UKF Algorithm and its Application for Rotorcraft UAV Actuator Failure Estimation

Abstract

A new adaptive Unscented Kalman Filter (UKF) algorithm for actuator failure estimation is proposed. A novel filter method with the ability to adapt to the statistical characteristics of noise is presented to improve the estimation accuracy of traditional UKFs. A new algorithm (Kalman Filter (KF) -based adaptive UKF), with the ability to adapt to the statistical characteristic of noise, is proposed to improve the UKF's performance. Such an adaptive mechanism is intended to compensate for the lack of prior knowledge. The asymptotic property of the adaptive UKF is discussed. Actuator Healthy Coefficients (AHCs) are introduced to denote the actuator failure model while the adaptive UKF is employed for the online estimation of both the flight states and the AHCs' parameters of a rotorcraft UAV (RUAV). Simulations are conducted using the model of a ServoHeli-90 RUAV from the Shenyang Institute of Automation, CAS. The results are compared with those obtained by normal UKF to demonstrate the effectiveness and improvements of the adaptive UKF algorithm. Besides this, we also compare this algorithm with the MIT-based one which we proposed in previous research.

Detection of collapsed buildings with the aerial images captured from UAV

“…Figure 2 shows the hardware setup of our system, which is composed of a rotor-wing UAV [14][15][16] and a pan-tilt active camera platform. The aerial images captured from the active camera will be transferred to a ground PC where our detection algorithm will process those images to find the collapsed buildings.…”

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

“…Since the nonlinear models are used without linearization, it is much simpler to implement and less time consuming for a real time application compared to EKF. Qi et al [70,71,74] and [69] proposed several UKF-based FD methods for UH actuator faults/failures. In order to represent actuator faults/failures, Actuator Healthy Coefficients (AHCs) are proposed.…”

“…The second one is Adaptive UKF (AUKF) [71], where the adaptive estimation of the process noise covariance Q ω is considered. The third one is KF-based Adaptive UKF [70,74]. It is composed of two parallel master-slave filters.…”

Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters

“…Note that, FDD module included in the self-healing control is assumed to provide fault information accurately no delay. FDD methods against actuator faults can be found in [12]. The remaining part of the paper is organized as following: SUH model is introduced simply in Section 2 where swashplate configuration is also included; Section 3 investigates the model and influence of actuator faults and constrains; In Section 4, self-healing control approach against actuator multiplicative/stuck faults under constrains is proposed.…”