Robust Fault Diagnosis for Quadrotor UAVs Using Adaptive Thau Observer

Cen, Zhaohui; Noura, Hassan; Susilo, Tri; Younes, Younes Al

doi:10.1007/s10846-013-9921-8

Cited by 75 publications

(26 citation statements)

References 24 publications

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“…For Thau Observer design, the following conditions must be satisfied: the pair (C, A) is observable and the non-linear function , must be continuously differentiable, which is locally Lipschitz with constant [10],…”

Section: Quadrotor Modelmentioning

confidence: 99%

Model-free observer for state estimation applied to a quadrotor

Younes

Noura

Muflehi

et al. 2015

2015 International Conference on Unmanned Aircraft Systems (ICUAS)

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In this paper, the Nonlinear Model-Free Observer (NMFO) is proposed to estimate the states of the quadrotor vehicle. NMFO is an integrated structure of the Model-Free technique and the nonlinear Thau observer. The Thau observer will accommodate for the nonlinearities in the quadrotor model and MFO will compensate for the un-modeled dynamics, modeling errors, and the system uncertainties.Flight test results have validated the proposed observer performance towards fault-free and actuator fault conditions.

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Section: Quadrotor Modelmentioning

confidence: 99%

Model-free observer for state estimation applied to a quadrotor

Younes

Noura

Muflehi

et al. 2015

2015 International Conference on Unmanned Aircraft Systems (ICUAS)

Self Cite

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“…Since the moments of roll and pitch are at least one order of magnitude larger than the moment of yaw, the latter has a larger error in its fault estimation. We resolved this problem by using an amplification and reduction technique [22].…”

Section: Remarkmentioning

confidence: 99%

“…Moreover, our method can handle uncertainties of magnitudes that are unknown, a priori, through an adaptive law approach. By comparing our approach to [22], we found that the adaptive algorithm is capable of compensating for the drag terms leading to clear improvements in the results.…”

Section: Introductionmentioning

confidence: 96%

“…While [4] used an actuator fault estimation with an adaptive observer based on H ∞ , and demonstrated the effectiveness of the proposed scheme, this method may not be sufficiently robust to external disturbances because the underlying mathematical model neglects both nonlinear terms and external disturbances. The most recent application of an adaptive Thau observer (ATO) for actuator fault diagnosis was proposed in [22]. While this approach is capable of handling model uncertainties in the nonlinear quadcopter model, it is rather complex and time-consuming because it uses system identification to find the drag terms, and the filter to eliminate sensor noise.…”

Section: Introductionmentioning

confidence: 99%

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Sliding Mode Thau Observer for Actuator Fault Diagnosis of Quadcopter UAVs

Nguyen

Hong

2018

Applied Sciences

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Fault diagnosis (FD) is one of the main roles of fault-tolerant control (FTC) systems. An FD should not only identify the presence of a fault, but also quantify its magnitude and location. In this work, we present a robust fault diagnosis method for quadcopter unmanned aerial vehicle (UAV) actuator faults. The state equation of the quadcopter UAV is examined as a nonlinear system. An adaptive sliding mode Thau observer (ASMTO) method is proposed to estimate the fault magnitude through an adaptive algorithm. We then obtain the design matrices and parameters using the linear matrix inequalities (LMI) technique. Finally, experimental results are presented to show the advantages of the proposed algorithm. Unlike previous research on quadcopter UAV FD systems, our study is based on ASMTO and can, therefore, determine the time variability of a fault in the presence of external disturbances.

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“…Avram et al proposed a nonlinear estimator-based fault detection and isolation mechanism for quadrotor [23]. In [24], a Tau observer is used to design the fault diagnosis of quadrotor UAV. In [25], the active fault-tolerant control for sensor faults is also considered.…”

Section: Introductionmentioning

confidence: 99%

Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators

Dong

2019

International Journal of Aerospace Engineering

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In this paper, we consider the fault-tolerant control problem for aerial vehicles with redundant actuators. The redundant actuator brings difficulty in fault identification and isolation. Active fault-tolerant control is adopted in this paper as it can detect actuator fault. The entire proposed fault-tolerant control algorithm contains a baseline controller, the fault detection and isolation scheme, and the controller reconstruction module. A robust parameter identification method is designed to identify the torque and thrust generated by the actuators. The feasibility of isolating the fault for the redundant actuators is analyzed through mathematical proof. Through the analysis, the practical fault isolation algorithm is also proposed. Two typical aerial vehicles with redundant actuators, an eight-rotor aircraft and a hexa-rotor aircraft, are adopted in numerical simulations to verify the effectiveness of the proposed fault-tolerant control approach.

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Robust Fault Diagnosis for Quadrotor UAVs Using Adaptive Thau Observer

Cited by 75 publications

References 24 publications

Model-free observer for state estimation applied to a quadrotor

Model-free observer for state estimation applied to a quadrotor

Sliding Mode Thau Observer for Actuator Fault Diagnosis of Quadcopter UAVs

Global Fault-Tolerant Control of Underactuated Aerial Vehicles with Redundant Actuators

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