Simultaneous state and parameter estimation based actuator fault detection and diagnosis for an unmanned helicopter

Wu, Chong; Qi, Juntong; Song, Dalei; Qi, Xin; Han, Jianda

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Title: Simultaneous state and parameter estimation based actuator fault detection and diagnosis for an unmanned helicopter

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AMCS, Volume 25 (2015)

Abstract:

Simultaneous state and parameter estimation based actuator fault detection and diagnosis (FDD) for single-rotor unmanned helicopters (UHs) is investigated in this paper. A literature review of actuator FDD for UHs is given firstly. Based on actuator healthy coefficients (AHCs), which are introduced to represent actuator faults, a combined dynamic model is established with the augmented state containing both the flight state and AHCs. ; Then the actuator fault detection and diagnosis problem is transformed into a general nonlinear estimation one: given control inputs and the measured flight state contaminated by measurement noises, estimate both the flight state and AHCs recursively in each time-step, which is also known as the simultaneous state and parameter estimation problem. ; The estimated AHCs can further be used for fault tolerant control (FTC). Based on the existing widely used nonlinear estimation methods such as the unscented Kalman filter (UKF) and the extended set-membership filter (ESMF), three kinds of adaptive schemes (KF-UKF, MIT-UKF and MIT-ESMF) are proposed by our team to improve the actuator FDD performance. A comprehensive comparative study on these different estimation methods is given in detail to illustrate their advantages and disadvantages when applied to unmanned helicopter actuator FDD.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

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oai:zbc.uz.zgora.pl:79012

DOI:

10.1515/amcs-2015-0013

Pages:

175-187

Source:

AMCS, volume 25, number 1 (2015) ; click here to follow the link

Language:

eng

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Biblioteka Uniwersytetu Zielonogórskiego

Subject and keywords:

actuator fault detection and diagnosis unmanned helicopter Kalman filters set-membership filter adaptive scheme

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Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering

Digital Library of Zielona Góra > Repository > Types of work > Articles

Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2015)

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Apr 29, 2024

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Apr 29, 2024

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https://zbc.uz.zgora.pl/publication/88856

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International Journal of Applied Mathematics and Computer Science (AMCS)

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Simultaneous state and parameter estimation based actuator fault detection and diagnosis for an unmanned helicopter	Apr 29, 2024

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