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.

Diagnosis of Icing and Actuator Faults in UAVs Using LPV Unknown Input Observers / Rotondo, Damiano; Cristofaro, Andrea; Johansen Tor, Arne; Nejjari, Fatiha; Puig, Vicenç. - In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS. - ISSN 0921-0296. - 91:3-4(2018), pp. 651-655. [10.1007/s10846-017-0716-1]

Diagnosis of Icing and Actuator Faults in UAVs Using LPV Unknown Input Observers

Cristofaro Andrea;
2018

Abstract

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.
2018
Fault diagnosis; Icing diagnosis; Linear parameter varying (LPV) systems; Unknown input observers (UIOs); Unmanned aerial vehicles (UAVs)
01 Pubblicazione su rivista::01a Articolo in rivista
Diagnosis of Icing and Actuator Faults in UAVs Using LPV Unknown Input Observers / Rotondo, Damiano; Cristofaro, Andrea; Johansen Tor, Arne; Nejjari, Fatiha; Puig, Vicenç. - In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS. - ISSN 0921-0296. - 91:3-4(2018), pp. 651-655. [10.1007/s10846-017-0716-1]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1329748
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