TY - JOUR
T1 - A Robust Fault Diagnosis for Quad-Rotors
T2 - A Sliding-Mode Observer Approach
AU - Falcon, Romeo
AU - Rios, Hector
AU - Dzul, Alejandro
N1 - Publisher Copyright:
© 1996-2012 IEEE.
PY - 2022/12/1
Y1 - 2022/12/1
N2 - 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.
AB - 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.
KW - Fault diagnosis (FD)
KW - quad-rotor
KW - sliding-mode observer (SMO)
UR - http://www.scopus.com/inward/record.url?scp=85127467060&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2022.3156854
DO - 10.1109/TMECH.2022.3156854
M3 - Artículo
AN - SCOPUS:85127467060
SN - 1083-4435
VL - 27
SP - 4487
EP - 4496
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 6
ER -