文章基本信息

标题：Robust Actuator Fault Diagnosis Algorithm for Autonomous Hexacopter UAVs ⁎
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作者：Antonio Gonzalez Rot ; Agus Hasan ; Poramate Manoonpong 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：682-687
DOI：10.1016/j.ifacol.2020.12.815
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a robust actuator fault diagnosis algorithm for hexacopter Unmanned Aerial Vehicles (UAVs). The algorithm, based on Adaptive eXogenous Kalman Filter (AXKF), consists of two-stage operations: (i) a nonlinear observer and (ii) a linearized adaptive Kalman filter. To this end, we provide a sufficient condition for the nonlinear observer and recursive formulas for the linearized adaptive Kalman filter. The algorithm is tested for actuator fault diagnosis of a hexacopter UAV. Simulation results show that the proposed cascaded algorithm is able to accurately estimate the magnitude of the actuator fault.
关键词：KeywordsFault diagnosisKalman filterUnmanned Aerial Vehicles (UAVs)