A UKF-based estimation strategy for actuator fault detection of UASs
Yang, Xilin, Warren, Michael, Arain, Bilal, Upcroft, Ben, Gonzalez, Felipe, & Mejias Alvarez, Luis (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.
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ID Code: | 60681 | ||||||
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Item Type: | Chapter in Book, Report or Conference volume (Conference contribution) | ||||||
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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 |
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Copyright Owner: | Consult author(s) regarding copyright matters | ||||||
Copyright Statement: | This work is covered by copyright. Unless the document is being made available under a Creative Commons Licence, you must assume that re-use is limited to personal use and that permission from the copyright owner must be obtained for all other uses. If the document is available under a Creative Commons License (or other specified license) then refer to the Licence for details of permitted re-use. It is a condition of access that users recognise and abide by the legal requirements associated with these rights. If you believe that this work infringes copyright please provide details by email to qut.copyright@qut.edu.au | ||||||
Deposited On: | 08 Jul 2013 03:28 | ||||||
Last Modified: | 12 Feb 2025 21:13 |
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