Publication

Diagnosis of icing and actuator faults in UAVs using LPV unknown input observers

Journal Article (2018)

Journal

Journal of Intelligent and Robotic Systems

Pages

651-665

Volume

91

Number

3

Doc link

https://doi.org/10.1007/s10846-017-0716-1

File

Download the digital copy of the doc pdf document

Authors

Abstract

This paper proposes a discrete-time linear parameter varying (LPV) unknown input observer (UIO) for the diagnosis of actuator faults and ice accretion in unmanned aerial vehicles (UAVs). The proposed approach, which is suited to an implementation on-board, exploits a complete 6-degrees of freedom (DOF) UAV model, which includes the coupled longitudinal/lateral dynamics and the impact of icing. The LPV formulation has the advantage of allowing the icing diagnosis scheme to be consistent with a wide range of operating conditions. The developed theory is supported by simulations illustrating the diagnosis of actuator faults and icing in a small UAV. The obtained results validate the effectiveness of the proposed approach.

Categories

control theory.

Author keywords

Unknown input observers (UIOs), Linear parameter varying (LPV) systems, Icing diagnosis, Fault diagnosis, Unmanned aerial vehicles (UAVs)

Scientific reference

D. Rotondo, A. Cristofaro, T.A. Johansen, F. Nejjari and V. Puig. Diagnosis of icing and actuator faults in UAVs using LPV unknown input observers. Journal of Intelligent and Robotic Systems, 91(3): 651-665, 2018.