Actuator and sensor fault detection and diagnosis of quadrotor based on Two-Stage Kalman Filter

Majid Moghadam; Fikret Caliskan

Actuator and sensor fault detection and diagnosis of quadrotor based on Two-Stage Kalman Filter

Majid Moghadam, Fikret Caliskan

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

20 Atıf (Scopus)

Özet

This paper addresses the problem of sensor and actuator fault detection and diagnosis (FDD) of an unmanned quadrotor helicopter in the presence of the observation and process noises. To this end a Two-Stage Kalman Filter (TSKF) to detect, isolate and identify faults is used. Sensor faults are assumed to be bias faults and actuator faults are modeled as a loss of effectiveness in the propellers. Also a discrete-time Linear Quadratic Regulator (LQR) controller is used to make the system response to follow a desired trajectory.

Orijinal dil	İngilizce
Ana bilgisayar yayını başlığı	2015 Australian Control Conference, AUCC 2015
Yayınlayan	Institute of Electrical and Electronics Engineers Inc.
Sayfalar	182-187
Sayfa sayısı	6
ISBN (Elektronik)	9781922107695
Yayın durumu	Yayınlandı - 21 Ara 2015
Etkinlik	5th Australian Control Conference, AUCC 2015 - Gold Coast, Australia Süre: 5 Kas 2015 → 6 Kas 2015

Yayın serisi

Adı	2015 Australian Control Conference, AUCC 2015

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	5th Australian Control Conference, AUCC 2015
Ülke/Bölge	Australia
Şehir	Gold Coast
Periyot	5/11/15 → 6/11/15

Bibliyografik not

Publisher Copyright:
© 2015 Engineers Australia.

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

@inproceedings{5bf789addb894cc7ac82659f8fa2995e,

title = "Actuator and sensor fault detection and diagnosis of quadrotor based on Two-Stage Kalman Filter",

abstract = "This paper addresses the problem of sensor and actuator fault detection and diagnosis (FDD) of an unmanned quadrotor helicopter in the presence of the observation and process noises. To this end a Two-Stage Kalman Filter (TSKF) to detect, isolate and identify faults is used. Sensor faults are assumed to be bias faults and actuator faults are modeled as a loss of effectiveness in the propellers. Also a discrete-time Linear Quadratic Regulator (LQR) controller is used to make the system response to follow a desired trajectory.",

author = "Majid Moghadam and Fikret Caliskan",

note = "Publisher Copyright: {\textcopyright} 2015 Engineers Australia.; 5th Australian Control Conference, AUCC 2015 ; Conference date: 05-11-2015 Through 06-11-2015",

year = "2015",

month = dec,

day = "21",

language = "English",

series = "2015 Australian Control Conference, AUCC 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "182--187",

booktitle = "2015 Australian Control Conference, AUCC 2015",

address = "United States",

}

Moghadam, M & Caliskan, F 2015, Actuator and sensor fault detection and diagnosis of quadrotor based on Two-Stage Kalman Filter. in 2015 Australian Control Conference, AUCC 2015., 7361930, 2015 Australian Control Conference, AUCC 2015, Institute of Electrical and Electronics Engineers Inc., pp. 182-187, 5th Australian Control Conference, AUCC 2015, Gold Coast, Australia, 5/11/15.

Actuator and sensor fault detection and diagnosis of quadrotor based on Two-Stage Kalman Filter. / Moghadam, Majid; Caliskan, Fikret.
2015 Australian Control Conference, AUCC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 182-187 7361930 (2015 Australian Control Conference, AUCC 2015).

Araştırma sonucu: Kitap/Rapor/Konferans Bildirisinde Bölüm › Konferans katkısı › bilirkişi

TY - GEN

T1 - Actuator and sensor fault detection and diagnosis of quadrotor based on Two-Stage Kalman Filter

AU - Moghadam, Majid

AU - Caliskan, Fikret

PY - 2015/12/21

Y1 - 2015/12/21

N2 - This paper addresses the problem of sensor and actuator fault detection and diagnosis (FDD) of an unmanned quadrotor helicopter in the presence of the observation and process noises. To this end a Two-Stage Kalman Filter (TSKF) to detect, isolate and identify faults is used. Sensor faults are assumed to be bias faults and actuator faults are modeled as a loss of effectiveness in the propellers. Also a discrete-time Linear Quadratic Regulator (LQR) controller is used to make the system response to follow a desired trajectory.

AB - This paper addresses the problem of sensor and actuator fault detection and diagnosis (FDD) of an unmanned quadrotor helicopter in the presence of the observation and process noises. To this end a Two-Stage Kalman Filter (TSKF) to detect, isolate and identify faults is used. Sensor faults are assumed to be bias faults and actuator faults are modeled as a loss of effectiveness in the propellers. Also a discrete-time Linear Quadratic Regulator (LQR) controller is used to make the system response to follow a desired trajectory.

UR - http://www.scopus.com/inward/record.url?scp=84964012134&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:84964012134

T3 - 2015 Australian Control Conference, AUCC 2015

SP - 182

EP - 187

BT - 2015 Australian Control Conference, AUCC 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 5th Australian Control Conference, AUCC 2015

Y2 - 5 November 2015 through 6 November 2015

ER -

Actuator and sensor fault detection and diagnosis of quadrotor based on Two-Stage Kalman Filter

Özet

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