{"title":"Adaptive Filtering Against Sensor/Actuator Faults","authors":"","doi":"10.1016/j.ifacol.2024.07.240","DOIUrl":null,"url":null,"abstract":"<div><p>A new fault tolerant estimation method of unmanned aerial vehicle (UAV) dynamics in the presence of sensor/actuator faults with both adaptivity and robustness is proposed. Choosing between robust and adaptive approaches in the event of a sensor/actuator fault is the topic of this study. We describe two methods: a robust technique with R-adaptation and an adaptive method with Q-adaptation. Fault detection in the Kalman filter is based on the chi-square distribution of the normalized quadratic innovation function (NQI). After detection of fault it is proposed to run simultaneously both, R-adaptive and Q-adaptive Kalman filters and compare their estimation performances to distinguish the sensor and actuator faults. As a performance criterion the mean of the quadratic differences between estimation and extrapolation values of robust and adaptive filters is proposed to use.</p></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S2405896324003240/pdf?md5=470531fdf497d06c7cd5cc6a39c1297c&pid=1-s2.0-S2405896324003240-main.pdf","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IFAC-PapersOnLine","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S2405896324003240","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Engineering","Score":null,"Total":0}
引用次数: 0
Abstract
A new fault tolerant estimation method of unmanned aerial vehicle (UAV) dynamics in the presence of sensor/actuator faults with both adaptivity and robustness is proposed. Choosing between robust and adaptive approaches in the event of a sensor/actuator fault is the topic of this study. We describe two methods: a robust technique with R-adaptation and an adaptive method with Q-adaptation. Fault detection in the Kalman filter is based on the chi-square distribution of the normalized quadratic innovation function (NQI). After detection of fault it is proposed to run simultaneously both, R-adaptive and Q-adaptive Kalman filters and compare their estimation performances to distinguish the sensor and actuator faults. As a performance criterion the mean of the quadratic differences between estimation and extrapolation values of robust and adaptive filters is proposed to use.
本研究提出了一种在传感器/执行器故障情况下对无人驾驶飞行器(UAV)动力学进行估算的新型容错方法,该方法同时具有自适应性和鲁棒性。在传感器/执行器出现故障时,在鲁棒性方法和自适应方法之间做出选择是本研究的主题。我们介绍了两种方法:一种是具有 R 适应性的鲁棒技术,另一种是具有 Q 适应性的自适应方法。卡尔曼滤波器的故障检测基于归一化二次创新函数(NQI)的奇平方分布。在检测到故障后,建议同时运行 R 自适应和 Q 自适应卡尔曼滤波器,并比较它们的估计性能,以区分传感器和执行器故障。建议使用鲁棒滤波器和自适应滤波器的估计值和外推值之间的二次方差值的平均值作为性能标准。
期刊介绍:
All papers from IFAC meetings are published, in partnership with Elsevier, the IFAC Publisher, in theIFAC-PapersOnLine proceedings series hosted at the ScienceDirect web service. This series includes papers previously published in the IFAC website.The main features of the IFAC-PapersOnLine series are: -Online archive including papers from IFAC Symposia, Congresses, Conferences, and most Workshops. -All papers accepted at the meeting are published in PDF format - searchable and citable. -All papers published on the web site can be cited using the IFAC PapersOnLine ISSN and the individual paper DOI (Digital Object Identifier). The site is Open Access in nature - no charge is made to individuals for reading or downloading. Copyright of all papers belongs to IFAC and must be referenced if derivative journal papers are produced from the conference papers. All papers published in IFAC-PapersOnLine have undergone a peer review selection process according to the IFAC rules.