Fault Diagnosis and Estimation for a Quadrotor UAV

被引：1
|
作者：
Aviles-Espinoza, J. J. [1 ]
Anzurez-Marin, J. [2 ]
Lopez-Estrada, F. R. [3 ]
机构：
[1] UMSNH, Fac Ingn Elect, Morelia, Michoacan, Mexico
[2] UMSNH, Fac Ingn Elect, Div Estudios Posgrad, Morelia, Michoacan, Mexico
[3] Tecnol Nacl Mexico, Turix Dynam Diag & Control Grp, Tuxtla Gutierrez, Mexico
来源：
PROCEEDINGS OF THE 2021 XXIII ROBOTICS MEXICAN CONGRESS (COMROB) | 2021年
关键词：
D O I：
10.1109/ComRob53312.2021.9628677
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a Fault Detection and Estimation (FDE) scheme for a quadrotor UAV gyroscopic sensor, using a Takagi-Sugeno (TS) model for the rotational dynamics of the vehicle, with an Unknown Input Observer (UIO). The proposed scheme is solved with usage of linear matrix inequalities (LMIs) theory, and validated with nonlinear simulations.
引用
收藏
页码：132 / 137
页数：6
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