The use of autonomous helicopters in civilian applications requires the improvement of safety conditions to avoid potential accidents. Fault detection and isolation (FDI) plays an important role in this context. This paper presents an actuator and sensor FDI system for small autonomous helicopters. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehicle with respect to the fault-free behaviour, which is estimated by using observers. Several types of faults have been considered. The effectiveness of the proposed approach is demonstrated by means of experimental results and simulations.


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    Title :

    Sensor and actuator fault detection in small autonomous helicopters


    Additional title:

    Sensor- und Aktor-Fehlererkennung in kleinen autonomen Hubschraubern


    Contributors:
    Heredia, G. (author) / Ollero, A. (author) / Bejar, M. (author) / Mahtani, R. (author)

    Published in:

    Mechatronics ; 18 , 2 ; 90-99


    Publication date :

    2008


    Size :

    10 Seiten, 14 Bilder, 2 Tabellen, 23 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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