Sensor fault detection and isolation in the quadrotor vehicle using nonlinear identity observer approach

Younes Al Younes; Hassan Noura; Abdelhamid Rabhi; Ahmed El Hajjaji; Nedaa Al Hussien

doi:10.1109/SysTol.2013.6693948

Sensor fault detection and isolation in the quadrotor vehicle using nonlinear identity observer approach

Younes Al Younes, Hassan Noura, Abdelhamid Rabhi, Ahmed El Hajjaji, Nedaa Al Hussien

Department of Electrical and Communication Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

22 Citations (Scopus)

Abstract

The Fault Detection and Isolation (FDI) of a quadrotor vehicle, which is described by a nonlinear model, are tackled in this paper. The nonlinear identity observer is utilized to detect the various types of sensors faults, and the Generalized Observer Scheme (GOS) is used to isolate the faulty sensor. The robustness of the observer and its scheme is investigated through several simulation results to build the Decision- Making Unit (DMU) for the residuals. Various simulation results have validated the FDI method and shown the system performance towards different fault scenarios.

Original language	English
Title of host publication	2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013
Pages	486-491
Number of pages	6
DOIs	https://doi.org/10.1109/SysTol.2013.6693948
Publication status	Published - 2013
Event	2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013 - Nice, France Duration: Oct 9 2013 → Oct 11 2013

Publication series

Name	Conference on Control and Fault-Tolerant Systems, SysTol
ISSN (Print)	2162-1195
ISSN (Electronic)	2162-1209

Other

Other	2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013
Country/Territory	France
City	Nice
Period	10/9/13 → 10/11/13

Keywords

Nonlinear Observer
Observer Scheme
Quadrotor Vehicle
Structured Residuals

ASJC Scopus subject areas

Computer Science Applications
Hardware and Architecture
Software
Control and Systems Engineering

Access to Document

10.1109/SysTol.2013.6693948

Cite this

Al Younes, Y., Noura, H., Rabhi, A., El Hajjaji, A., & Al Hussien, N. (2013). Sensor fault detection and isolation in the quadrotor vehicle using nonlinear identity observer approach. In 2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013 (pp. 486-491). Article 6693948 (Conference on Control and Fault-Tolerant Systems, SysTol). https://doi.org/10.1109/SysTol.2013.6693948

Sensor fault detection and isolation in the quadrotor vehicle using nonlinear identity observer approach. / Al Younes, Younes; Noura, Hassan; Rabhi, Abdelhamid et al.
2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013. 2013. p. 486-491 6693948 (Conference on Control and Fault-Tolerant Systems, SysTol).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Al Younes, Y, Noura, H, Rabhi, A, El Hajjaji, A & Al Hussien, N 2013, Sensor fault detection and isolation in the quadrotor vehicle using nonlinear identity observer approach. in 2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013., 6693948, Conference on Control and Fault-Tolerant Systems, SysTol, pp. 486-491, 2nd International Conference on Control and Fault-Tolerant Systems, SysTol 2013, Nice, France, 10/9/13. https://doi.org/10.1109/SysTol.2013.6693948

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abstract = "The Fault Detection and Isolation (FDI) of a quadrotor vehicle, which is described by a nonlinear model, are tackled in this paper. The nonlinear identity observer is utilized to detect the various types of sensors faults, and the Generalized Observer Scheme (GOS) is used to isolate the faulty sensor. The robustness of the observer and its scheme is investigated through several simulation results to build the Decision- Making Unit (DMU) for the residuals. Various simulation results have validated the FDI method and shown the system performance towards different fault scenarios.",

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AB - The Fault Detection and Isolation (FDI) of a quadrotor vehicle, which is described by a nonlinear model, are tackled in this paper. The nonlinear identity observer is utilized to detect the various types of sensors faults, and the Generalized Observer Scheme (GOS) is used to isolate the faulty sensor. The robustness of the observer and its scheme is investigated through several simulation results to build the Decision- Making Unit (DMU) for the residuals. Various simulation results have validated the FDI method and shown the system performance towards different fault scenarios.

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KW - Structured Residuals

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Sensor fault detection and isolation in the quadrotor vehicle using nonlinear identity observer approach

Abstract

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Keywords

ASJC Scopus subject areas

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