This chapter investigates the problems of fault detection, diagnosis, and fault-tolerant control for unmanned aerial vehicles (UAVs). It presents first a detailed overview on the existing experimental works considering these problems in the literature. The existing works consider fixed-wing as well as rotorcraft UAVs including the single-rotor and the multi-rotor helicopters (also known as quadrotors). Later on, the chapter discusses three Kalman filters employed for actuator fault detection and diagnosis, namely, the unscented Kalman filter, the two-stage Kalman filter, and the adaptive two-stage Kalman filter. The three filters are experimentally applied to a quadrotor helicopter UAV test bed at the Department of Mechanical and Industrial Engineering of Concordia University. The obtained results are shown, compared, and discussed.


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    Titel :

    Experimental Validation of Fault Detection and Diagnosis for Unmanned Aerial Vehicles


    Beteiligte:

    Erschienen in:

    Handbook of Unmanned Aerial Vehicles ; Kapitel : 41 ; 1123-1155


    Erscheinungsdatum :

    09.08.2014


    Format / Umfang :

    33 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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