TY - GEN
T1 - Sensor fault diagnostic and Fault-Tolerant Control for the altitude control of a quadrotor UAV
AU - Drak, Ahmad
AU - Noura, Hassan
AU - Hejase, Mohammad
AU - Al Younes, Younes
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/3/12
Y1 - 2015/3/12
N2 - The two major occurring faults with relevance to UAVs are actuator and sensor faults. This paper presents a fault diagnostic and fault tolerant control algorithm on the altitude sensor of a quadrotor UAV. The quadrotor used is QUANSER's Qball-X4, which is part of the Unmanned Vehicles Lab (UVL) at UAE University. The proposed fault tolerant control is based on hardware redundancy of three altitude sensors. Residuals are generated based on the three altitude measurements, which are then used to compute indicators about fault occurrences. These indicators serve the fault isolation algorithm to determine the faulty sensor, and in return allows for automatic switching between the sensors in case the faulty sensor is used in the closed-loop system. The effectiveness of the proposed algorithm is demonstrated by means of real flight tests.
AB - The two major occurring faults with relevance to UAVs are actuator and sensor faults. This paper presents a fault diagnostic and fault tolerant control algorithm on the altitude sensor of a quadrotor UAV. The quadrotor used is QUANSER's Qball-X4, which is part of the Unmanned Vehicles Lab (UVL) at UAE University. The proposed fault tolerant control is based on hardware redundancy of three altitude sensors. Residuals are generated based on the three altitude measurements, which are then used to compute indicators about fault occurrences. These indicators serve the fault isolation algorithm to determine the faulty sensor, and in return allows for automatic switching between the sensors in case the faulty sensor is used in the closed-loop system. The effectiveness of the proposed algorithm is demonstrated by means of real flight tests.
KW - fault daignositc
KW - fault tolerant-control
KW - hardware redundancy
KW - quadrotor
UR - http://www.scopus.com/inward/record.url?scp=84929103951&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84929103951&partnerID=8YFLogxK
U2 - 10.1109/IEEEGCC.2015.7060056
DO - 10.1109/IEEEGCC.2015.7060056
M3 - Conference contribution
AN - SCOPUS:84929103951
T3 - 2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015
BT - 2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015
Y2 - 1 February 2015 through 4 February 2015
ER -