Abstract
This paper addresses the problem of Faut Detection and Diagnosis (FDD) of quadrotor helicopter system in the presence of actuator faults. To this end an Interacting Multiple Model (IMM) Filtering Algorithm is used to simultaneously estimate and isolate possible faults in each actuator. The faults are modelled as changes in control effectiveness of rotors. Two fault scenarios are investigated: the loss of control effectiveness in all actuators and the loss of control effectiveness in one single actuator. The developed FDD algorithm is evaluated through experimental application to an unmanned quadrotor helicopter testbed available at the Department of Mechanical and Industrial Engineering of Concordia University, called Qball-X4. The obtained results show the effectiveness of the proposed FDD method.
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© 2012 Springer-Verlag Berlin Heidelberg
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Amoozgar, M.H., Chamseddine, A., Zhang, Y.M. (2012). Experimental Test of an Interacting Multiple Model Filtering Algorithm for Actuator Fault Detection and Diagnosis of an Unmanned Quadrotor Helicopter. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7506. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33509-9_47
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DOI: https://doi.org/10.1007/978-3-642-33509-9_47
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33508-2
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