Yi, Yingmin (Xi'an University of Technology), Zhang, Youmin (Concordia University)

Fault Detection of an Unmanned Quadrotor Helicopter Based on Particle Filter

Scheduled for presentation during the "UAS Applications - VIII" (FrA4), Friday, June 16, 2017, 11:20−11:40, Lummus Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

To address the problem of fault detection and diagnosis of an unmanned quadrotor helicopter (Qball-X4) in the presence of actuator faults, this paper presents a fault diagnosis method based on a particle filter. The obtained state estimation and fault detection decision based on the particle filter is used to control the altitude of the Qball-X4 UAV with integration of a Linear Quadratic (LQ) technique. The developed fault detection scheme is implemented and experimentally tested in the Qball-X4 UAV. The faults are modelled as losses in control effectiveness of motors (actuators). Three faults cases are investigated: loss of control effectiveness in one signal actuator, loss of control effectiveness in two actuators, and loss of control effectiveness in three actuators. Experiments show the effectiveness of the proposed method.