Set-theoretic robust FD of UAV nonlinear longitudinal motion under discrete-time quasi-LPV framework

摘要

This paper presents a set-theoretic robust fault detection (FD) method to the nonlinear longitudinal motion of Unmanned Aerial Vehicle (UAV), which combines the discrete-time quasi linear parameter varying (DT-qLPV) framework and the set-theoretic FD theory. First, a qLPV approximation of the UAV nonlinear longitudinal motion is derived to avoid linearization around trim conditions of the UAV dynamics. For the convenience of designing FD algorithm, the discretization of continuous-time qLPV(CT-qLPV) system is considered. Second, a detailed analysis on discretization errors is given and the bounds of the discretization errors are derived. Furthermore, the set-theoretic FD method is applied to detect faults in the DT-qLPV system. Finally, a simulation based on the longitudinal dynamics of UAV is used to illustrate the effectiveness of the proposed method.