Flight evaluation of simultaneous actuator/sensor fault reconstruction on a quadrotor minidrone
Flight evaluation of simultaneous actuator/sensor fault reconstruction on a quadrotor minidrone
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DOI：
10.1049/cth2.12180
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发表时间：
2021-08
影响因子：
2.6
通讯作者：
S. Waitman;H. Alwi;C. Edwards
中科院分区：
文献类型：
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作者：
S. Waitman;H. Alwi;C. Edwards
鉴于商业和私营部门中无人驾驶飞行器（uav）数量的增加，必须确保这些系统是安全的，从而能够抵御故障和故障。本文研究了用于四旋翼小型无人机故障检测与诊断的线性变参滑模观测器的数值设计和实际实现。从微型无人机的非线性模型出发，提取LPV模型进行设计，并详细介绍了利用线性矩阵不等式（LMI）进行观测器综合的过程。仿真结果表明，该观测器具有良好的性能。然后在Parrot®滚动蜘蛛微型无人机上实现观察者，并进行一系列飞行测试，以使用其机载处理能力实时评估FDD能力。飞行试验验证了仿真结果的正确性，表明滑模观测器能够为四旋翼小型无人机系统提供可靠的故障重构。
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 parameter‐varying (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.