Simultaneous observer based sensor diagnosis and speed estimation of Unmanned Aerial Vehicle

Abstract

In this contribution we investigate the problem of simultaneous observer based sensor diagnosis and speed estimation of Unmanned Aerial Vehicle (UAV). The main features lie in the use of a useful bank of reduced order observers to detect and isolate faulty sensors and in the same time to provide unbiased speed estimation of UAV from accelerometers. From a structural analysis, we provide all trajectories for which faults would be detected and estimated. The theoretical result is summarized into the stability analysis, established through the Lyapunov approach and Barbalat lemma. The existence condition is expressed in terms of physical variables of the UAV. Performances and easiness of implementation of the proposed technique are shown through a quadrotor UAV.

Sensor fault detection and isolation in the quadrotor vehicle using nonlinear identity observer approach

“…Recently, few studies, such as the work in [6][7][8], have been dedicated to detect and isolate the sensor faults on a nonlinear quadrotor system using model-based observers.…”

A Feedback Linearization Approach to Fault Tolerance in Quadrotor Vehicles

“…Both sensors and actuators, however, may be subject to faults or failures and it is important that the vehicle can be also controlled in a faulty scenario. The capability of dealing with faults is of vital importance for UVs, however in the case of the unmanned quadrotor vehicle only few researches have been devoted to the problem of Fault Detection and Isolation (FDI) Rafaralahy et al (2008); Berbra et al (2008a); Freddi et al (2009) as well as to the problem of Fault Tolerant Control (FTC) Nejad et al (2009); Berbra et al (2008b). Moreover, at the best of the authors knowledge, a fault tolerant controller has never been proposed in case of actuator faults for this kind of vehicle.…”

Invariant Observer-Based State Estimation for Micro-Aerial Vehicles in GPS-Denied Indoor Environments Using an RGB-D Camera and MEMS Inertial Sensors

“…It is also worth mentioning the recent work on the observer based simultaneous state estimation and sensor fault diagnosis for MAV. In [30], a group of reduced-order time varying observers are designed to diagnose and isolate accelerometers faults, and to simultaneously estimate the MAV velocity from acceleration measurements. Despite the aforementioned research on observer-based approaches, it remains to be seen whether the non-linear observer can be more generally useful for actual MAVs.…”