scholarly journals Simultaneous State and Parameter Estimation Based Actuator Fault Detection and Diagnosis for an Unmanned Helicopter

2015 ◽  
Vol 25 (1) ◽  
pp. 175-187 ◽  
Author(s):  
Chong Wu ◽  
Juntong Qi ◽  
Dalei Song ◽  
Xin Qi ◽  
Jianda Han
Keyword(s):  
Parameter Estimation ◽  
Fault Detection ◽  
Nonlinear Estimation ◽  
Fault Detection And Diagnosis ◽  
Estimation Methods ◽  
Actuator Fault ◽  
Unmanned Helicopter ◽  
Time Step ◽  
Advantages And Disadvantages ◽  
Detection And Diagnosis

AbstractSimultaneous state and parameter estimation based actuator fault detection and diagnosis (FDD) for single-rotor unmanned helicopters (UHs) is investigated in this paper. A literature review of actuator FDD for UHs is given firstly. Based on actuator healthy coefficients (AHCs), which are introduced to represent actuator faults, a combined dynamic model is established with the augmented state containing both the flight state and AHCs. Then the actuator fault detection and diagnosis problem is transformed into a general nonlinear estimation one: given control inputs and the measured flight state contaminated by measurement noises, estimate both the flight state and AHCs recursively in each time-step, which is also known as the simultaneous state and parameter estimation problem. The estimated AHCs can further be used for fault tolerant control (FTC). Based on the existing widely used nonlinear estimation methods such as the unscented Kalman filter (UKF) and the extended set-membership filter (ESMF), three kinds of adaptive schemes (KF-UKF, MIT-UKF and MIT-ESMF) are proposed by our team to improve the actuator FDD performance. A comprehensive comparative study on these different estimation methods is given in detail to illustrate their advantages and disadvantages when applied to unmanned helicopter actuator FDD.

Fault Detection and Diagnosis Based on Qualitative Simulation

2013 ◽  
Vol 821-822 ◽  
pp. 1499-1504
Author(s):  
Lei Lei Deng ◽  
Xian Zhang
Keyword(s):  
Fault Detection ◽  
Fault Detection And Diagnosis ◽  
Theory Analysis ◽  
Control Engineering ◽  
Engineering Technology ◽  
Qualitative Simulation ◽  
Advantages And Disadvantages ◽  
Similarity Principle ◽  
Detection And Diagnosis ◽  
Research Analysis

Engineering technology system's complexity cause a series of system problems, this is without a doubt the contemporary control engineering field important challenges. In order to deal with this kind of challenge, appear a series of system fault detection and diagnosis technology, including qualitative simulation technology is one of the important technical one. Through the Qualitative Simulation theory QSIM (Qualitative Simulation) related theory analysis and of the technology in fault detection field operation of the process of research, analysis found that the technology in the field of FDD advantages and disadvantages, in view of the existing shortage, it gives a fuzzy set theory and similarity principle on the make, theoretically perfect this model, and the detection and diagnosis research form an effective guidance.

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.

scholarly journals Recursive Actuator Fault Detection and Diagnosis for Emergency Landing of UASs

2014 ◽  
Vol 47 (3) ◽  
pp. 2495-2502 ◽  
Author(s):  
X. Yang ◽  
L. Mejias ◽  
M. Warren ◽  
F. Gonzalez ◽  
B. Upcroft
Keyword(s):  
Fault Detection ◽  
Fault Detection And Diagnosis ◽  
Actuator Fault ◽  
Detection And Diagnosis

Qualitative Simulation Theory and its Applications

2013 ◽  
Vol 433-435 ◽  
pp. 954-959
Author(s):  
Lei Lei Deng ◽  
Xian Zhang
Keyword(s):  
Fault Detection ◽  
Theory Development ◽  
Simulation Theory ◽  
Fault Detection And Diagnosis ◽  
Theory Analysis ◽  
Qualitative Simulation ◽  
Advantages And Disadvantages ◽  
Similarity Principle ◽  
Detection And Diagnosis ◽  
Research Analysis

Describes the background and qualitative simulation theory development, then describes the qualitative simulation and application of fault detection, fault detection Finally, qualitative simulation development are discussed. In order to deal with this kind of challenge, appear a series of system fault detection and diagnosis technology, including qualitative simulation technology is one of the important technical one. Through the Qualitative Simulation theory QSIM (Qualitative Simulation) related theory analysis and of the technology in fault detection field operation of the process of research, analysis found that the technology in the field of FDD advantages and disadvantages, in view of the existing shortage, it gives a fuzzy set theory and similarity principle on the make, theoretically perfect this model, and the detection and diagnosis research form an effective guidance.

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