Active fault detection and isolation strategy for an unmanned aerial vehicle with redundant flight control surfaces

2008 ◽  
Author(s):  
Francois Bateman ◽  
Hassan Noura ◽  
Mustapha Ouladsine
Keyword(s):  
Fault Detection ◽  
Unmanned Aerial Vehicle ◽  
Flight Control ◽  
Active Fault ◽  
Fault Detection And Isolation ◽  
Aerial Vehicle ◽  
Active Fault Detection ◽  
Control Surfaces

scholarly journals Actuator fault detection and isolation on a quadrotor unmanned aerial vehicle modeled as a linear parameter-varying system

2019 ◽  
Vol 52 (9-10) ◽  
pp. 1228-1239 ◽  
Author(s):  
Julio Alberto Guzmán-Rabasa ◽  
Francisco Ronay López-Estrada ◽  
Brian Manuel González-Contreras ◽  
Guillermo Valencia-Palomo ◽  
Mohammed Chadli ◽  
...  
Keyword(s):  
Fault Detection ◽  
Unmanned Aerial Vehicle ◽  
Fault Detection And Diagnosis ◽  
Fault Detection And Isolation ◽  
Actuator Fault ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Aerial Vehicle ◽  
Parameter Varying ◽  
Detection And Diagnosis

This paper presents the design of a fault detection and diagnosis system for a quadrotor unmanned aerial vehicle under partial or total actuator fault. In order to control the quadrotor, the dynamic system is divided in two subsystems driven by the translational and the rotational dynamics, where the rotational subsystem is based on a linear parameter-varying model. A robust linear parameter-varying observer applied to the rotational subsystem is considered to detect actuator faults, which can occur as total failures (loss of a propeller or a motor) or partial faults (degradation). Furthermore, fault diagnosis is done by analyzing the displacements of the roll and pitch angles. Numerical experiments are carried out in order to illustrate the effectiveness of the proposed methodology.

A stability-guaranteed smooth-scheduled MIMO robust emergency autopilot for a lateral surface jammed UAV

2017 ◽  
Vol 232 (12) ◽  
pp. 2286-2299
Author(s):  
İsmail Hakkı Şahin ◽  
Coşku Kasnakoğlu
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Flight Control ◽  
Autonomous Navigation ◽  
Control Laws ◽  
Unmanned Air Vehicle ◽  
Air Vehicle ◽  
The Disabled ◽  
Aerial Vehicle ◽  
And Performance ◽  
Control Surfaces

This paper investigates a methodology for autopilot design for an unmanned air vehicle where one of the lateral control surfaces, i.e. the aileron or rudder, becomes jammed and unusable. The autopilot handles the automatic recovery, autonomous guidance and landing of the disabled unmanned aerial vehicle. An accurate nonlinear aircraft model is used to build local flight control laws using loop-shaping to decouple longitudinal and lateral channels. The design is carried out in a way to allow smooth scheduling over the local controllers without losing stability and performance, culminating in a robust emergency autopilot over the full flight envelope. The autopilot is tested on an example distress scenario involving aileron surface jam. It is confirmed through simulations that the autopilot design is capable of resuming safe flight and autonomous navigation under the fault scenario and is able to safely land the unmanned aerial vehicle to a target runway.

scholarly journals Smac–Fdi: A Single Model Active Fault Detection and Isolation System for Unmanned Aircraft

2015 ◽  
Vol 25 (1) ◽  
pp. 189-201 ◽  
Author(s):  
Guillaume J.J. Ducard
Keyword(s):  
Fault Detection ◽  
Active Fault ◽  
Parameter Tuning ◽  
Fault Isolation ◽  
Unmanned Aircraft ◽  
Fault Detection And Isolation ◽  
Actuator Fault ◽  
Single Model ◽  
Isolation System ◽  
Active Fault Detection

Abstract This article presents a single model active fault detection and isolation system (SMAC-FDI) which is designed to efficiently detect and isolate a faulty actuator in a system, such as a small (unmanned) aircraft. This FDI system is based on a single and simple aerodynamic model of an aircraft in order to generate some residuals, as soon as an actuator fault occurs. These residuals are used to trigger an active strategy based on artificial exciting signals that searches within the residuals for the signature of an actuator fault. Fault isolation is carried out through an innovative mechanism that does not use the previous residuals but the actuator control signals directly. In addition, the paper presents a complete parameter-tuning strategy for this FDI system. The novel concepts are backed-up by simulations of a small unmanned aircraft experiencing successive actuator failures. The robustness of the SMAC-FDI method is tested in the presence of model uncertainties, realistic sensor noise and wind gusts. Finally, the paper concludes with a discussion on the computational efficiency of the method and its ability to run on small microcontrollers.

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