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Communication Dans Un Congrès Année : 2016

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

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Younes Al Younes
  • Fonction : Auteur
Hassan Noma
  • Fonction : Auteur

Résumé

In this paper, Fault Diagnosis and Fault Tolerant Control algorithms are proposed to compensate for a bias type sensor fault applied on the quadrotor vehicle. A novel output estimator design called intelligent Output-Estimator (IOE) is introduced to detect and isolate the sensor fault. The estimation of the fault magnitude is done through a proposed structured algorithm that senses the maximum error deviation between the output estimation and the measured outputs. Then the fault compensation is achieved by regenerating the desired path. Real-flight results validated the proposed algorithms and showed the sensor fault accommodation process.
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Dates et versions

hal-03634686 , version 1 (07-04-2022)

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  • HAL Id : hal-03634686 , version 1

Citer

Younes Al Younes, Abdelhamid Rabhi, Hassan Noma, Ahmed El Hajjaji. Sensor Fault Diagnosis and Fault Tolerant Control using intelligent-Output-Estimator Applied on Quadrotor UAV. 2016 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS), Jun 2016, Arlington, United States. pp.1117-1123. ⟨hal-03634686⟩
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