Quadrotor Fault Detection and Isolation Based on Nonlinear Analytical Redundancy Relations

被引：0

作者：

Mouhssine, Noura ^{[1
]}

Kabbaj, M. Nabil ^{[1
]}

Benbrahim, Mohammed ^{[1
]}

El Bekkali, Chakib ^{[1
]}

机构：

[1] SMBA Univ, Integrat Syst & Adv Technol Lab LISTA, Fes, Morocco

来源：

2017 14TH INTERNATIONAL MULTI-CONFERENCE ON SYSTEMS, SIGNALS & DEVICES (SSD) | 2017年

关键词：

Fault detection; rotorcraft; quadrotor; nonlinear analytical redundancy; residuals; parity space; nonlinear systems; RESIDUAL GENERATION; DIAGNOSIS;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper addresses the analysis and design of a fault detection and isolation scheme (FDI), applied on the quadrotor unmanned air vehicles (UAVs) which is described by a nonlinear model. Using nonlinear analytical redundancy relations (NLARRs) to generate structured residuals. This technique composed by derivatives of known signals to detect and isolate sensor faults by an extended parity space approach. Finally, the results obtained are presented to illustrate the robustness of the proposed scheme.

引用

页码：325 / 330

页数：6

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