Lagrangian Model‐Based Fault Diagnosis in a PVTOL

Abstract

A Lagrangian formalism is used to model a PVTOL in order to obtain an aircraft model. The Euler-Lagrange model of the PVTOL is used to develop an algorithm for fault diagnosis. Diagnosis implies the detection, isolation and identification of a fault. The considered approach is based on the knowledge of a system model as well as the model of the possible faults. The idea is to use non-linear decoupling approach to derivate a set of subsystems, each related to a specific fault or a set of faults. An observer-based residual generation is designed for each subsystem, this structure allows the fault detection and isolation stage, for fault identification a kind of approximated inversion algorithm to meet the different diagnostic levels. The results are obtained taking advantage of the structure given by the Euler-Lagrange modelling of the PVTOL as well as from recent results related to observer design and fault identification.