Sensor fault diagnostic and Fault-Tolerant Control for the altitude control of a quadrotor UAV

Ahmad Drak; Hassan Noura; Mohammad Hejase; Younes Al Younes

doi:10.1109/IEEEGCC.2015.7060056

Sensor fault diagnostic and Fault-Tolerant Control for the altitude control of a quadrotor UAV

Ahmad Drak, Hassan Noura, Mohammad Hejase, Younes Al Younes

Department of Electrical and Communication Engineering

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

11 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479984220
DOIs	https://doi.org/10.1109/IEEEGCC.2015.7060056
Publication status	Published - Mar 12 2015
Event	2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015 - Muscat, Oman Duration: Feb 1 2015 → Feb 4 2015

Publication series

Name	2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015

Other

Other	2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015
Country/Territory	Oman
City	Muscat
Period	2/1/15 → 2/4/15

Keywords

fault daignositc
fault tolerant-control
hardware redundancy
quadrotor

ASJC Scopus subject areas

Energy(all)
Engineering(all)
Computer Science(all)

Access to Document

10.1109/IEEEGCC.2015.7060056

Cite this

Drak, A., Noura, H., Hejase, M., & Al Younes, Y. (2015). Sensor fault diagnostic and Fault-Tolerant Control for the altitude control of a quadrotor UAV. In 2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015 Article 7060056 (2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IEEEGCC.2015.7060056

Sensor fault diagnostic and Fault-Tolerant Control for the altitude control of a quadrotor UAV. / Drak, Ahmad; Noura, Hassan; Hejase, Mohammad et al.
2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015. Institute of Electrical and Electronics Engineers Inc., 2015. 7060056 (2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015).

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

Drak, A, Noura, H, Hejase, M & Al Younes, Y 2015, Sensor fault diagnostic and Fault-Tolerant Control for the altitude control of a quadrotor UAV. in 2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015., 7060056, 2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015, Institute of Electrical and Electronics Engineers Inc., 2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015, Muscat, Oman, 2/1/15. https://doi.org/10.1109/IEEEGCC.2015.7060056

@inproceedings{00c5edb932d445adb23ea6caeb0be9c6,

title = "Sensor fault diagnostic and Fault-Tolerant Control for the altitude control of a quadrotor UAV",

abstract = "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.",

keywords = "fault daignositc, fault tolerant-control, hardware redundancy, quadrotor",

author = "Ahmad Drak and Hassan Noura and Mohammad Hejase and {Al Younes}, Younes",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015 ; Conference date: 01-02-2015 Through 04-02-2015",

year = "2015",

month = mar,

day = "12",

doi = "10.1109/IEEEGCC.2015.7060056",

language = "English",

series = "2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2015 IEEE 8th GCC Conference and Exhibition, GCCCE 2015",

}

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

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 -

Sensor fault diagnostic and Fault-Tolerant Control for the altitude control of a quadrotor UAV

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this