Actuator fault is a prominent system’s issue that attracts the researchers’ attentions. One type of actuator fault is a constant Loss-of-Effectiveness (LoE). In this paper, two systematic algorithms are presented. The first algorithm is designed to detect and diagnosis the actuator fault. This Fault-Detection-and-Diagnosis (FDD) approach relies on an estimator design that is called intelligent Output-Estimator (iOE). The proposed iOE is intended to improve the estimation of the actuator fault based on the Model-Free technique. The second algorithm works online after detecting, isolating and estimating the actuator fault. This Active-Fault-Tolerant-Control (AFTC) algorithm will use the estimated actuator value in a reconfigured control design to compensate for the fault.Real-time flight tests are applied on the Qball-X4 quadrotor. Different LoE actuator-fault scenarios are presented in this paper to validate the proposed algorithms.


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    Title :

    Actuator Fault-Diagnosis and Fault-Tolerant-Control using intelligent-Output-Estimator Applied on Quadrotor UAV


    Contributors:


    Publication date :

    2019-06-01


    Size :

    1057719 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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