TY - GEN
T1 - Sensor fault diagnosis and fault tolerant control using intelligent-output-estimator applied on quadrotor UAV
AU - Younes, Younes Al
AU - Rabhi, Abdelhamid
AU - Noura, Hassan
AU - Hajjaji, Ahmed El
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/30
Y1 - 2016/6/30
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84979752424&partnerID=8YFLogxK
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U2 - 10.1109/ICUAS.2016.7502557
DO - 10.1109/ICUAS.2016.7502557
M3 - Conference contribution
AN - SCOPUS:84979752424
T3 - 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
SP - 1117
EP - 1123
BT - 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
Y2 - 7 June 2016 through 10 June 2016
ER -