This paper suggests data-driven fault detection and isolation for a quadrotor system using sparse identification of nonlinear dynamics (SINDy) and Thau observer. We propose a novel fault detection method to solve the challenge of a quadrotor with unknown dynamic effect and parameter uncertainty. The SINDy can discover the governing equations of target systems with low data assuming that few functions have the dominant characteristic of the system. Using these properties, system model identification is performed to obtain a nonlinear term that is needed to apply a Thau observer for a quadrotor system. First, the SINDy model is derived by considering a gyroscopic effect and an aerodynamic effect. Second, a SINDy-based Thau observer is proposed to generate a residual that can be used to determine a faulty actuator. Finally, results of the simulation demonstrate that the suggested observer outperforms the Thau observer in detecting faults, even in the presence of uncertain parameters and unknown model effects.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Data-Driven Fault Detection and Isolation for Quadrotor Using Sparse Identification of Nonlinear Dynamics and Thau Observer


    Beteiligte:
    Lee, Jayden Dongwoo (Autor:in) / Im, Sukjae (Autor:in) / Bang, Hyochoong (Autor:in)


    Erscheinungsdatum :

    04.06.2024


    Format / Umfang :

    1262623 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Robust Fault Estimation on a real quadrotor UAV using optimized Adaptive Thau Observer

    Cen, Zhaohui / Noura, Hassan / Younes, Younes Al | IEEE | 2013


    Data-driven Discovery of The Quadrotor Equations of Motion Via Sparse Identification of Nonlinear Dynamics

    Manaa, Zeyad M. / Elbalshy, Mohammed R. / Abdallah, Ayman M. | AIAA | 2024


    Neuroadaptive Observer-Based Fault-Diagnosis and Fault-Tolerant Control for Quadrotor UAV

    Avila Okada, Kenji Fabiano / Silva de Morais, Aniel / Oliveira-Lopes, Luis Claudio et al. | IEEE | 2021


    Backstepping-based attitude control for a quadrotor UAV using nonlinear disturbance observer

    Qingtong, Wei / Honglin, Wang / Qingxian, Wu et al. | IEEE | 2015