Robust observer-based fault diagnosis for an unmanned aerial vehicle

Abstract

In this paper, a new robust fault detection and isolation (FDI) methodology for an unmanned aerial vehicle (UAV) is proposed. The fault diagnosis scheme is constructed based on observer-based techniques according to fault models corresponding to each component (actuator, sensor, and structure). The proposed fault diagnosis method takes advantage of the structural perturbation of the UAV model due to the icing (the main structural fault in aircraft), sensor, and actuator faults to reduce the error of observers that are used in the FDI module in addition to distinguishing among faults in different components. Moreover, the accuracy of the FDI module is increased by considering the structural perturbation of the UAV linear model due to wind disturbances which is the major environmental disturbance affecting an aircraft. Our envisaged FDI strategy is capable of diagnosing recurrent faults through properly designed residuals with different responses to different types of faults. Simulation results are provided to illustrate and demonstrate the effectiveness of our proposed FDI approach due to faults in sensors, actuators, and structural components of unmanned aerial vehicles.