Actuator fault signal isolation of an unmanned aerial vehicle (UAV) quadrotor based on detection filter

摘要

A quadrotor which has four actuators becomes an active object research in the area of identification, control related to each formation to cover certain area such as in the surveillance mission. The performance of the quadrotor is determined, one out of several possibilities, by the working condition of each actuators. Therefore, the states of healthiness of the actuators should be monitored. In other words, if there is an actuator fault signal, it should be isolated immediately. In this paper, a detection filter is proposed to solve actuator fault signal isolation on the quadrotor in hovering motion since the detection filter can generate decoupled detection space which corresponds to each actuator fault signal if mutually detectable requirement is satisfied. The result shows that mutually detectable requirement is satisfied by adding a virtual actuator vector and detection filter gain is successfully calculated so that decoupled detection spaces can be obtained.