Robust Fault Diagnosis for Quadrotor UAVs Using Adaptive Thau Observer

Authors:
Zhaohui Cen;Hassan Noura;Tri Bagus Susilo;Younes Al Younes
Affiliations:
Department of Electrical Engneering, UAE University, Al Ain, UAE 15551;Department of Electrical Engneering, UAE University, Al Ain, UAE 15551;Department of Electrical Engneering, UAE University, Al Ain, UAE 15551;Department of Electrical Engneering, UAE University, Al Ain, UAE 15551 and Mechanical Engineering Faculty, Higher College of Technology, Al Ain, UAE 17155
Venue:
Journal of Intelligent and Robotic Systems
Year:
2014

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Abstract

A robust Fault Diagnosis (FD) scheme for a real quadrotor Unmanned Aerial Vehicle (UAV) is proposed in this paper. Firstly, a novel Adaptive Thau observer (ATO) is developed to estimate the quadrotor system states and build a set of offset residuals to indicate actuators' faults. Based on these residuals, some rules of Fault Diagnosis (FD) are designed to detect and isolate the faults as well as estimate the fault offset parameters. Secondly, a synthetic robust optimization scheme is presented to improve Fault Estimation (FE) accuracies, three key issues include modeling uncertainties, and magnitude order unbalances as well as noises are addressed. Finally, a typical fault of rotors is simulated and injected into one of four rotors of the quadrotor, and experiments for the FD scheme have been carried out. Unlike former research works on the FD schemes for quadrotors, our proposed FD scheme based on the ATO can not only detect and isolate the failed actuators, but also estimate the fault severities. Regardless of roughness of the real flying data, the FD results still have sufficient FE accuracies.