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In this brief, the problem of designing and developing a hybrid fault detection and isolation (FDI) scheme for a network of unmanned vehicles (NUVs) that is subject to large environmental disturbances is investigated. The proposed FDI algorithm is a hybrid architecture that is composed of a bank of continuous-time residual generators and a discrete-event system (DES) fault diagnoser. A novel set of residuals is generated so that the DES fault diagnoser empowered by incorporating appropriate combinations of the residuals and their sequential features will robustly detect and isolate faults in the NUVs. Our proposed hybrid FDI algorithm is then applied to actuator fault detection and isolation in a network of quad-rotors. Simulation results demonstrate and validate the performance capabilities of our proposed hybrid FDI algorithm.
Date of Publication: Nov. 2010