Abstract
This article presents the design of a fault diagnosis strategy to deal with faults in multiple actuators in a quad-rotor under the influence of external disturbances. The faults are modeled as partial loss of effectiveness. The proposed fault diagnosis strategy is based on a finite-time sliding-mode observer that estimates the full state and provides a set of residuals using only the output information. Moreover, such a strategy is able to detect, isolate, and identify faults in multiple actuators despite the presence of external disturbances. Experimental results on the Quanser’s QBall 2 platform show the performance of the proposed scheme.
Original language | English |
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Journal | IEEE/ASME Transactions on Mechatronics |
DOIs | |
State | Accepted/In press - 2022 |
Externally published | Yes |
Bibliographical note
Publisher Copyright:IEEE
Keywords
- Actuators
- Fault diagnosis
- Fault diagnosis (FD)
- IEEE transactions
- Mechatronics
- Observers
- quad-rotor
- Rotors
- sliding-mode observer (SMO)
- Uncertainty