REDUAS 2019 Paper Abstract


Paper TuD24T1.2

Matus-Vargas, Antonio (Instituto Nacional de Astrofísica, Óptica y Electrónica), Rodriguez-Gomez, Gustavo (INAOE), Martinez-Carranza, Jose (Instituto Nacional de Astrofisica Optica y Electronica)

Sensor Fault Mitigation for MAVs under Ground Effect

Scheduled for presentation during the Regular Session "Fail-Safe Systems" (TuD24T1), Tuesday, November 26, 2019, 12:00−12:20, Room T1

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS), November 25-27, 2019, Cranfield University, Cranfield, UK

This information is tentative and subject to change. Compiled on January 20, 2022

Keywords Micro- and Mini- UAS, Fail-Safe Systems, Environmental Issues


Small multirotors are suitable to navigate in complex and confined environments that are otherwise inaccessible to larger drones. In such conditions, airflow interactions between the rotors and nearby surface take place. The most common of these interactions is the ground effect. Besides the increment in thrust efficiency, the ground effect affects the onboard sensors of the vehicle. In this paper, we present a fault diagnosis scheme and a control strategy for a multirotor with sensor faults caused by the ground effect. We assume a hierarchical control structure composed of an external PD controller and an internal PI controller. We consider that sensor faults occur on the inner loop and counteract them in the outer one. The fault diagnosis scheme is designed as a logical process which depends on the weighted residual. The control strategy combines the external controller and a function of the residual. Finally, we evaluate the effectiveness of our controller in simulation.



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