A UKF-based estimation strategy for actuator fault detection of UASs

, , , , , & (2013) A UKF-based estimation strategy for actuator fault detection of UASs. In Chan, Y & Tsourdos, A (Eds.) Proceedings of the 2013 International Conference on Unmanned Aircraft Systems, ICUAS. Institute of Electrical and Electronics Engineers Inc., United States, pp. 516-525.

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Description

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 correspond- ing 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.

Impact and interest:

13 citations in Scopus
9 citations in Web of Science®
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ID Code: 60681
Item Type: Chapter in Book, Report or Conference volume (Conference contribution)
ORCID iD:
Arain, Bilalorcid.org/0000-0002-2198-2870
Gonzalez, Felipeorcid.org/0000-0002-4342-3682
Mejias Alvarez, Luisorcid.org/0000-0002-6298-2340
Measurements or Duration: 10 pages
Keywords: UAS, UAV, UAV Forced Landing, Vision-Based Forced Landing
DOI: 10.1109/ICUAS.2013.6564728
ISBN: 978-1-4799-0817-2
Pure ID: 32469974
Divisions: Past > Institutes > Institute for Future Environments
Past > QUT Faculties & Divisions > Science & Engineering Faculty
Current > Research Centres > Australian Research Centre for Aerospace Automation
Funding:
Copyright Owner: Consult author(s) regarding copyright matters
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Deposited On: 08 Jul 2013 03:28
Last Modified: 12 Feb 2025 21:13