In view of the increase in the number of Unmanned
Aerial Vehicles (UAVs) in the commercial and private sectors, it
is imperative to make sure that such systems are safe, and thus
resilient to faults and failures. This paper considers the numerical
design and practical implementation of a linear parametervarying (LPV) sliding mode ...
In view of the increase in the number of Unmanned
Aerial Vehicles (UAVs) in the commercial and private sectors, it
is imperative to make sure that such systems are safe, and thus
resilient to faults and failures. This paper considers the numerical
design and practical implementation of a linear parametervarying (LPV) sliding mode observer for Fault Detection and
Diagnosis (FDD) of a quadrotor minidrone. Starting from a
nonlinear model of the minidrone, an LPV model is extracted
for design, and the observer synthesis procedure, using Linear
Matrix Inequalities (LMI), is detailed. Simulations of the observer
FDD show good performance. The observer is then implemented
on a Parrot® Rolling Spider minidrone and a series of flight
tests is performed to assess the FDD capabilities in real time
using its on-board processing power. The flight tests confirm the
performance obtained in simulation, and show that the sliding
mode observer is able to provide reliable fault reconstruction for
quadrotor minidrone systems.
