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Diagnosis of icing and actuator faults in UAVs using LPV unknown input observers

AuthorsRotondo, Damiano ; Cristofaro, Andrea; Arne Johansen, Tor; Nejjari, Fatiha; Puig, Vicenç
KeywordsUnknown input observers (UIOs)
Linear parameter varying (LPV) systems
Icing diagnosis
Fault diagnosis
Unmanned aerial vehicles (UAVs)
Issue DateSep-2018
CitationJournal of Intelligent and Robotic Systems 91(3-4): 651–665 (2018)
AbstractThis 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.
Publisher version (URL)http://dx.doi.org/10.1007/s10846-017-0716-1
Appears in Collections:(IRII) Artículos
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