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

Majid Moghadam, Fikret Caliskan

Araştırma sonucu: ???type-name???Konferans katkısıbilirkişi

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 dilİngilizce
Ana bilgisayar yayını başlığı2015 Australian Control Conference, AUCC 2015
YayınlayanInstitute of Electrical and Electronics Engineers Inc.
Sayfalar182-187
Sayfa sayısı6
ISBN (Elektronik)9781922107695
Yayın durumuYayınlandı - 21 Ara 2015
Etkinlik5th Australian Control Conference, AUCC 2015 - Gold Coast, Australia
Süre: 5 Kas 20156 Kas 2015

Yayın serisi

Adı2015 Australian Control Conference, AUCC 2015

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???event.eventtypes.event.conference???5th Australian Control Conference, AUCC 2015
Ülke/BölgeAustralia
ŞehirGold Coast
Periyot5/11/156/11/15

Bibliyografik not

Publisher Copyright:
© 2015 Engineers Australia.

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