Sensor fault diagnosis and fault tolerant control using intelligent-output-estimator applied on quadrotor UAV

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

doi:10.1109/ICUAS.2016.7502557

Sensor fault diagnosis and fault tolerant control using intelligent-output-estimator applied on quadrotor UAV

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

Department of Electrical and Communication Engineering

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

13 Citations (Scopus)

Abstract

In this paper, Fault Diagnosis and Fault Tolerant Control algorithms are proposed to compensate for a bias type sensor fault applied on the quadrotor vehicle. A novel output estimator design called intelligent Output-Estimator (iOE) is introduced to detect and isolate the sensor fault. The estimation of the fault magnitude is done through a proposed structured algorithm that senses the maximum error deviation between the output estimation and the measured outputs. Then the fault compensation is achieved by regenerating the desired path. Real-flight results validated the proposed algorithms and showed the sensor fault accommodation process.

Original language	English
Title of host publication	2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1117-1123
Number of pages	7
ISBN (Electronic)	9781467393331
DOIs	https://doi.org/10.1109/ICUAS.2016.7502557
Publication status	Published - Jun 30 2016
Event	2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016 - Arlington, United States Duration: Jun 7 2016 → Jun 10 2016

Publication series

Name	2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016

Other

Other	2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
Country/Territory	United States
City	Arlington
Period	6/7/16 → 6/10/16

ASJC Scopus subject areas

Aerospace Engineering
Control and Systems Engineering

Access to Document

10.1109/ICUAS.2016.7502557

Cite this

Younes, Y. A., Rabhi, A., Noura, H., & Hajjaji, A. E. (2016). Sensor fault diagnosis and fault tolerant control using intelligent-output-estimator applied on quadrotor UAV. In 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016 (pp. 1117-1123). [7502557] (2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS.2016.7502557

Sensor fault diagnosis and fault tolerant control using intelligent-output-estimator applied on quadrotor UAV. / Younes, Younes Al; Rabhi, Abdelhamid; Noura, Hassan et al.
2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 1117-1123 7502557 (2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016).

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

Younes, YA, Rabhi, A, Noura, H & Hajjaji, AE 2016, Sensor fault diagnosis and fault tolerant control using intelligent-output-estimator applied on quadrotor UAV. in 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016., 7502557, 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016, Institute of Electrical and Electronics Engineers Inc., pp. 1117-1123, 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016, Arlington, United States, 6/7/16. https://doi.org/10.1109/ICUAS.2016.7502557

Younes YA, Rabhi A, Noura H, Hajjaji AE. Sensor fault diagnosis and fault tolerant control using intelligent-output-estimator applied on quadrotor UAV. In 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 1117-1123. 7502557. (2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016). doi: 10.1109/ICUAS.2016.7502557

Younes, Younes Al ; Rabhi, Abdelhamid ; Noura, Hassan et al. / Sensor fault diagnosis and fault tolerant control using intelligent-output-estimator applied on quadrotor UAV. 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 1117-1123 (2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016).

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AB - In this paper, Fault Diagnosis and Fault Tolerant Control algorithms are proposed to compensate for a bias type sensor fault applied on the quadrotor vehicle. A novel output estimator design called intelligent Output-Estimator (iOE) is introduced to detect and isolate the sensor fault. The estimation of the fault magnitude is done through a proposed structured algorithm that senses the maximum error deviation between the output estimation and the measured outputs. Then the fault compensation is achieved by regenerating the desired path. Real-flight results validated the proposed algorithms and showed the sensor fault accommodation process.

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Sensor fault diagnosis and fault tolerant control using intelligent-output-estimator applied on quadrotor UAV

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