Accéder directement au contenu Accéder directement à la navigation
Communication dans un congrès

Actuator Fault-Diagnosis and Fault-Tolerant-Control using intelligent-Output-Estimator Applied on Quadrotor UAV

Abstract : Actuator fault is a prominent system's issue that attracts the researchers' attentions. One type of actuator fault is a constant Loss-of-Effectiveness (LoE). In this paper, two systematic algorithms are presented. The first algorithm is designed to detect and diagnosis the actuator fault. This Fault-Detection-and-Diagnosis (FDD) approach relies on an estimator design that is called intelligent Output-Estimator (iOE). The proposed iOE is intended to improve the estimation of the actuator fault based on the Model-Free technique. The second algorithm works online after detecting, isolating and estimating the actuator fault. This Active-Fault-Tolerant-Control (AFTC) algorithm will use the estimated actuator value in a reconfigured control design to compensate for the fault. Real-time flight tests are applied on the Qball-X4 quadrotor. Different LoE actuator-fault scenarios are presented in this paper to validate the proposed algorithms.
Type de document :
Communication dans un congrès
Liste complète des métadonnées

https://hal-u-picardie.archives-ouvertes.fr/hal-03633202
Contributeur : Louise DESSAIVRE Connectez-vous pour contacter le contributeur
Soumis le : mercredi 6 avril 2022 - 18:33:58
Dernière modification le : vendredi 5 août 2022 - 11:22:17

Identifiants

  • HAL Id : hal-03633202, version 1

Collections

Citation

Younes Al Younes, Hassan Noura, Abdelhamid Rabhi, Ahmed El Hajjaji. Actuator Fault-Diagnosis and Fault-Tolerant-Control using intelligent-Output-Estimator Applied on Quadrotor UAV. 2019 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS' 19), Jun 2019, Atlanta, United States. pp.413-420. ⟨hal-03633202⟩

Partager

Métriques

Consultations de la notice

6