Actuator Fault Diagnosis and Control of a Quadrotor

被引：0

作者：

Candido, Adilson de Souza ^{[1
]}

Harrop Galvao, Roberto Kawakami ^{[1
]}

Yoneyama, Takashi ^{[1
]}

机构：

[1] ITA, Dept Elect & Comp Engn, Sao Jose Dos Campos, SP, Brazil

来源：

2014 12TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN) | 2014年

关键词：

Unmanned quadrotor helicopter; interacting multiple model filter; fault diagnosis; multi-model predictive controller; actuator fault and brushless dc motor;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper addresses the problem of actuator fault. diagnosis and control of a realistic nonlinear six degree-of-freedom quadrotor helicopter model, based on interacting multiple model (IMM) filter and a switching multi-model predictive controller (MMPC). The proposed methods were evaluated by numerical simulation, and the faults were modeled by increasing the friction and temperature of one rotor. The results were satisfactory in terms of fault detection and diagnosis while performing accurate reference tracking.

引用

页码：310 / 315

页数：6

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