Experimental test of an interacting multiple model filtering algorithm for actuator fault detection and diagnosis of an unmanned quadrotor helicopter
作者： Mohammad Hadi Amoozgar , Abbas Chamseddine , Youmin M. Zhang
DOI: 10.1007/978-3-642-33509-9_47
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摘要: This paper addresses the problem of Faut Detection and Diagnosis (FDD) of quadrotor helicopter system in the presence of actuator faults. To this end an Interacting Multiple Model (IMM) Filtering Algorithm is used to simultaneously estimate and isolate possible faults in each actuator. The faults are modelled as changes in control effectiveness of rotors. Two fault scenarios are investigated: the loss of control effectiveness in all actuators and the loss of control effectiveness in one single actuator. The developed FDD algorithm is evaluated …
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