A Robust Fault Diagnosis for Quad-Rotors: A Sliding-Mode Observer Approach
Romeo Falcón, Héctor Ríos, Alejandro Dzul
Abstract
This article presents the design of a fault diagnosis strategy to deal with faults in multiple actuators in a quad-rotor under the influence of external disturbances. The faults are modeled as partial loss of effectiveness. The proposed fault diagnosis strategy is based on a finite-time sliding-mode observer that estimates the full state and provides a set of residuals using only the output information. Moreover, such a strategy is able to detect, isolate, and identify faults in multiple actuators despite the presence of external disturbances. Experimental results on the Quanser’s QBall 2 platform show the performance of the proposed scheme.
Topics & Concepts
Control theory (sociology)ActuatorObserver (physics)Fault (geology)State observerComputer scienceRotor (electric)Mode (computer interface)Fault detection and isolationSet (abstract data type)EngineeringControl engineeringControl (management)Artificial intelligenceNonlinear systemGeologyProgramming languageMechanical engineeringPhysicsSeismologyOperating systemQuantum mechanicsFault Detection and Control SystemsAdaptive Control of Nonlinear SystemsControl Systems in Engineering