Nonlinear actuator fault detection for small-scale UAS
Data(s) |
01/09/2014
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Resumo |
This paper presents a recursive strategy for online detection of actuator faults on a unmanned aerial system (UAS) subjected to accidental actuator faults. The proposed detection algorithm aims to provide a UAS with the capability of identifying and determining characteristics of actuator faults, offering necessary flight information for the design of fault-tolerant mechanism to compensate for the resultant side-effect when faults occur. The proposed fault detection strategy consists of a bank of unscented Kalman filters (UKFs) with each one detecting a specific type of actuator faults and estimating corresponding velocity and attitude information. Performance of the proposed method is evaluated using a typical nonlinear UAS model and it is demonstrated in simulations that our method is able to detect representative faults with a sufficient accuracy and acceptable time delay, and can be applied to the design of fault-tolerant flight control systems of UASs. |
Formato |
application/pdf |
Identificador | |
Publicador |
Springer |
Relação |
http://eprints.qut.edu.au/62866/1/fault_detection_XILIN.pdf DOI:10.1007/s10846-013-9940-5 Yang, Xilin, Mejias, Luis, Gonzalez, Felipe, Warren, Michael, Upcroft, Ben, & Arain, Bilal (2014) Nonlinear actuator fault detection for small-scale UAS. Journal of Intelligent and Robotic Systems, 73(1 - 4), pp. 557-572. |
Direitos |
Copyright 2013 Please consult the authors |
Fonte |
Australian Research Centre for Aerospace Automation; School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
Palavras-Chave | #090100 AEROSPACE ENGINEERING #090104 Aircraft Performance and Flight Control Systems #Fault detection #Unscented Kalman filter #Actuator failure #Emergency Landing |
Tipo |
Journal Article |