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.
Experimental Validation of Fault Detection and Diagnosis for Unmanned Aerial Vehicles
Handbook of Unmanned Aerial Vehicles ; Kapitel : 41 ; 1123-1155
09.08.2014
33 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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