Nonlinear actuator fault detection for small-scale UAS

Yang, Xilin, Mejias, Luis, Gonzalez, Felipe, Warren, Michael, Upcroft, Ben, & Arain, Bilal (2014) Nonlinear actuator fault detection for small-scale UAS. Journal of Intelligent and Robotic Systems, 73(1 - 4), pp. 557-572.

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This paper presents a recursive strategy for online detection of actuator faults on a unmanned aerial system (UAS) subjected to accidental actuator faults. The proposed detection algorithm aims to provide a UAS with the capability of identifying and determining characteristics of actuator faults, offering necessary flight information for the design of fault-tolerant mechanism to compensate for the resultant side-effect when faults occur. The proposed fault detection strategy consists of a bank of unscented Kalman filters (UKFs) with each one detecting a specific type of actuator faults and estimating corresponding velocity and attitude information. Performance of the proposed method is evaluated using a typical nonlinear UAS model and it is demonstrated in simulations that our method is able to detect representative faults with a sufficient accuracy and acceptable time delay, and can be applied to the design of fault-tolerant flight control systems of UASs.

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1 citations in Web of Science®

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ID Code: 62866
Item Type: Journal Article
Refereed: Yes
Additional URLs:
Keywords: Fault detection, Unscented Kalman filter, Actuator failure, Emergency Landing
DOI: 10.1007/s10846-013-9940-5
ISSN: 0921-0296
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aircraft Performance and Flight Control Systems (090104)
Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2013 Please consult the authors
Deposited On: 24 Sep 2013 23:20
Last Modified: 13 Jul 2015 06:25

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