Model-based Fault Detection and Identification of a Quadrotor with Rotor Fault

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dc.authoridasadi, davood/0000-0002-2066-6016
dc.contributor.authorAsadi, Davood
dc.date.accessioned2025-01-06T17:37:49Z
dc.date.available2025-01-06T17:37:49Z
dc.date.issued2022
dc.description.abstractFault detection and identification (FDI) is a challenging and critical process when dealing with nonlinear, unstable, and underactuated systems such as multirotor. This article presents a novel two-stage structure for a fault-tolerant FDI approach for a quadrotor with an actuator fault. The FDI algorithm generates residual signals for fault detection using a model-based approach based on the parity space. The basic idea behind this approach is to leverage measurement coherence by generating residuals via linear combinations of measurement outputs and control inputs over a finite window. The parity vector is generated using the states of the faulty system, which have been filtered using an extended Kalman filter, the inputs, and the healthy quadrotor model. To detect and identify the actuator's partial fault, the residual signal is examined using the exponential forgetting factor recursive least square method. Real-time testbed experiments are used to determine the FDI algorithm's performance and to demonstrate the proposed algorithm's effectiveness in identifying a quadrotor's rotor fault.
dc.description.sponsorshipScientific Research Project Unit (BAP) ofAdana Alparslan Turkes Science and Technology University [19119002]
dc.description.sponsorshipThis research was supported by the Scientific Research Project Unit (BAP) ofAdana Alparslan Turkes Science and Technology University with project number 19119002.
dc.identifier.doi10.1007/s42405-022-00494-z
dc.identifier.endpage928
dc.identifier.issn2093-274X
dc.identifier.issn2093-2480
dc.identifier.issue5
dc.identifier.scopus2-s2.0-85134693202
dc.identifier.scopusqualityQ2
dc.identifier.startpage916
dc.identifier.urihttps://doi.org/10.1007/s42405-022-00494-z
dc.identifier.urihttps://hdl.handle.net/20.500.14669/2379
dc.identifier.volume23
dc.identifier.wosWOS:000829986200001
dc.identifier.wosqualityQ3
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherSpringer
dc.relation.ispartofInternational Journal of Aeronautical and Space Sciences
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_20241211
dc.subjectFault detection and identification
dc.subjectResidual signal
dc.subjectRecursive least square
dc.subjectRotor fault
dc.titleModel-based Fault Detection and Identification of a Quadrotor with Rotor Fault
dc.typeArticle

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