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

Younes Al Younes , Hassan Noura (1) , Abdelhamid Rabhi (2) , Ahmed El Hajjaji (2)

1 AUB - American University of Beirut [Beyrouth]
2 MIS - Modélisation, Information et Systèmes - UR UPJV 4290

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.

Domaines: Automatique / Robotique

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⟩