Flight evaluation of simultaneous actuator/sensor fault reconstruction on a quadrotor minidrone
dc.contributor.author | Waitman, S | |
dc.contributor.author | Alwi, H | |
dc.contributor.author | Edwards, C | |
dc.date.accessioned | 2021-07-09T14:34:52Z | |
dc.date.issued | 2021-08-10 | |
dc.description.abstract | 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. | en_GB |
dc.description.sponsorship | Engineering and Physical Sciences Research Council (EPSRC) | en_GB |
dc.identifier.citation | Published online 10 August 2021 | en_GB |
dc.identifier.doi | 10.1049/cth2.12180 | |
dc.identifier.grantnumber | NE/P016731/1 | en_GB |
dc.identifier.uri | http://hdl.handle.net/10871/126355 | |
dc.language.iso | en | en_GB |
dc.publisher | Wiley / Institution of Engineering and Technology | en_GB |
dc.rights | © 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited. | |
dc.subject | Fault detection | en_GB |
dc.subject | Delay systems | en_GB |
dc.subject | Variable-structure/sliding-mode control | en_GB |
dc.title | Flight evaluation of simultaneous actuator/sensor fault reconstruction on a quadrotor minidrone | en_GB |
dc.type | Article | en_GB |
dc.date.available | 2021-07-09T14:34:52Z | |
dc.identifier.issn | 1751-8644 | |
dc.description | This is the final version. Available on open access from Wiley via the DOI in this record | en_GB |
dc.identifier.eissn | 1751-8652 | |
dc.identifier.journal | IET Control Theory and Applications | en_GB |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | en_GB |
dcterms.dateAccepted | 2021-07-05 | |
exeter.funder | ::Engineering and Physical Sciences Research Council (EPSRC) | en_GB |
rioxxterms.version | VoR | en_GB |
rioxxterms.licenseref.startdate | 2021-07-05 | |
rioxxterms.type | Journal Article/Review | en_GB |
refterms.dateFCD | 2021-07-09T13:57:25Z | |
refterms.versionFCD | AM | |
refterms.dateFOA | 2021-08-19T11:08:07Z | |
refterms.panel | B | en_GB |
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Except where otherwise noted, this item's licence is described as © 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology. This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is
properly cited.