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Diagnosis of icing and actuator faults in UAVs using LPV unknown input observers

Author
Rotondo, D.; Cristofaro, A.; Johansen , T. A.; Nejjari, F.; Puig, V.
Type of activity
Journal article
Journal
Journal of intelligent and robotic systems: theory and applications (Online)
Date of publication
2017-10-05
Volume
91
Number
3-4
First page
651
Last page
665
DOI
https://doi.org/10.1007/s10846-017-0716-1 Open in new window
Repository
http://hdl.handle.net/2117/113767 Open in new window
URL
https://link.springer.com/article/10.1007%2Fs10846-017-0716-1 Open in new window
Abstract
This paper proposes a discrete-time linear parameter varying (LPV) unknown input observer (UIO) for the diagnosis of actuator faults and ice accretion in unmanned aerial vehicles (UAVs). The proposed approach, which is suited to an implementation on-board, exploits a complete 6-degrees of freedom (DOF) UAV model, which includes the coupled longitudinal/lateral dynamics and the impact of icing. The LPV formulation has the advantage of allowing the icing diagnosis scheme to be consistent with a wi...
Citation
Rotondo, D., Cristofaro, A., Johansen , T. A., Nejjari, F., Puig, V. Diagnosis of icing and actuator faults in UAVs using LPV unknown input observers. "Journal of intelligent and robotic systems: theory and applications (Online)", 5 Octubre 2017, 91(3-4): p. 651-665
Keywords
Fault diagnosis, Icing diagnosis, Linear parameter varying (LPV) systems, Unknown input observers (UIOs), Unmanned aerial vehicles (UAVs)
Group of research
CS2AC-UPC - Supervision, Safety and Automatic Control
SAC - Advanced Control Systems

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