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Título: | Diagnosis of icing and actuator faults in UAVs using LPV unknown input observers |
Autor: | Rotondo, Damiano CSIC ORCID ; Cristofaro, Andrea; Arne Johansen, Tor; Nejjari, Fatiha; Puig, Vicenç CSIC ORCID | Palabras clave: | Unknown input observers (UIOs) Linear parameter varying (LPV) systems Icing diagnosis Fault diagnosis Unmanned aerial vehicles |
Fecha de publicación: | sep-2018 | Editor: | Springer Nature | Citación: | Journal of Intelligent and Robotic Systems 91(3-4): 651–665 (2018) | Resumen: | This paper proposes a discrete-time linear parameter varying (LPV) unknown input observer (UIO) for the diagnosis of actuator faults and ice accretion in unmanned aerial vehicles (UAVs). The proposed approach, which is suited to an implementation on-board, exploits a complete 6-degrees of freedom (DOF) UAV model, which includes the coupled longitudinal/lateral dynamics and the impact of icing. The LPV formulation has the advantage of allowing the icing diagnosis scheme to be consistent with a wide range of operating conditions. The developed theory is supported by simulations illustrating the diagnosis of actuator faults and icing in a small UAV. The obtained results validate the effectiveness of the proposed approach. | Versión del editor: | http://dx.doi.org/10.1007/s10846-017-0716-1 | URI: | http://hdl.handle.net/10261/179695 | DOI: | 10.1007/s10846-017-0716-1 | ISSN: | 0921-0296 | E-ISSN: | 1573-0409 |
Aparece en las colecciones: | (IRII) Artículos |
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Diagnosis-of-Icing_Rotondo.pdf | 566,73 kB | Adobe PDF | Visualizar/Abrir |
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