Robust Fault Estimation Using the Intermediate Observer: Application to the Quadcopter

Sensors

卷:20

NguyenXuan Mung¹  SungKyung Hong¹  NgocPhi Nguyen¹  TuanTu Huynh²  XuanPhu Do³ 

[1] Department of Aerospace Engineering, Sejong University, Seoul 143-747 (05006), Korea;

[2] Department of Electrical Engineering, Yuan Ze University, No. 135, Yuandong Road, Zhongli, Taoyuan 320, Taiwan;

[3] MediRobotics Laboratory, Department of Machatronics and Sensor Systems Technology, Vietnamese-German University, Binh Duong 820000, Vietnam;

关键词: fault diagnosis;    quadrotor;    UAVs;    sliding mode observer;    sensor fault;    quadcopter;   

DOI  :  10.3390/s20174917

来源: DOAJ

【 摘 要 】

In this paper, an actuator fault estimation technique is proposed for quadcopters under uncertainties. In previous studies, matching conditions were required for the observer design, but they were found to be complex for solving linear matrix inequalities (LMIs). To overcome these limitations, in this study, an improved intermediate estimator algorithm was applied to the quadcopter model, which can be used to estimate actuator faults and system states. The system stability was validated using Lyapunov theory. It was shown that system errors are uniformly ultimately bounded. To increase the accuracy of the proposed fault estimation algorithm, a magnitude order balance method was applied. Experiments were verified with four scenarios to show the effectiveness of the proposed algorithm. Two first scenarios were compared to show the effectiveness of the magnitude order balance method. The remaining scenarios were described to test the reliability of the presented method in the presence of multiple actuator faults. Different from previous studies on observer-based fault estimation, this proposal not only can estimate the fault magnitude of the roll, pitch, yaw, and thrust channel, but also can estimate the loss of control effectiveness of each actuator under uncertainties.

【 授权许可】

Unknown