Fault diagnosis in dynamic systems: theory and application
Fault diagnosis in dynamic systems: theory and application
Robust model-based fault diagnosis for dynamic systems
Robust model-based fault diagnosis for dynamic systems
Modeling and Real-Time Stabilization of an Aircraft Having Eight Rotors
Journal of Intelligent and Robotic Systems
Real-Time Model-Based Fault Detection and Isolation for UGVs
Journal of Intelligent and Robotic Systems
An integral predictive/nonlinear H∞ control structure for a quadrotor helicopter
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Issues of Fault Diagnosis for Dynamic Systems
Issues of Fault Diagnosis for Dynamic Systems
Robust Fault Diagnosis for Quadrotor UAVs Using Adaptive Thau Observer
Journal of Intelligent and Robotic Systems
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This paper addresses the problem of sensor fault detection for a wide class of Unmanned Vehicles (UVs). First a general model for UVs, based on the dynamics of a 6 Degrees Of Freedom (6-DOF) rigid body, subject to gravity and actuation forces, is presented. This model is shown to satisfy the necessary conditions to the existence of a non-linear observer (Thau) when proper assumptions for the actuation forces are made. The observer can thus be used to generate diagnostic residuals inside a Fault Detection (FD) system. Finally, the proposed approach is customized for sensor fault detection on an unmanned quad-rotor vehicle, and simulation results show the effectiveness of the adopted solution.