ICUAS 2019 Paper Abstract

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Paper WeC1.5

Al Younes, Younes (Higher colleges of technology), NOURA, Hassan (Islamic University of Lebanon), RABHI, ABDELHAMID (MIS), El Hajjaji, Ahmed (Univ. de Picardie-Jules Verne)

Actuator Fault Diagnosis and Fault Tolerant Control Using Intelligent-Output-Estimator Applied on Quadrotor UAV

Scheduled for presentation during the Regular Session "Fault Diagnosis, Accommodation and Fault-Tolerant Control" (WeC1), Wednesday, June 12, 2019, 18:20−18:40, Heritage B

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Control Architectures, Fail-Safe Systems, UAS Applications

Abstract

Actuator fault is a prominent system’s issue that attracts the researchers’ attentions. One type of actuator fault is a constant Loss-of-Effectiveness (LoE). In this paper, two systematic algorithms are presented. The first algorithm is designed to detect and diagnosis the actuator fault. This Fault-Detection-and-Diagnosis (FDD) approach relies on an estimator design that is called intelligent Output-Estimator (iOE). The proposed iOE is intended to improve the estimation of the actuator fault based on the Model-Free technique. The second algorithm works online after detecting, isolating and estimating the actuator fault. This Active-Fault-Tolerant-Control (AFTC) algorithm will use the estimated actuator value in a reconfigured control design to compensate for the fault. Real-time flight tests are applied on the Qball-X4 quadrotor. Different LoE actuator-fault scenarios are presented in this paper to validate the proposed algorithms.

 

 

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