A Fault Diagnosis Comparative Approach for a Quadrotor UAV

This work presents a comparative between a Fault Detection and Isolation (FDI) approach, and a Fault Detection and Estimation scheme (FDE) applied to a quadrotor UAV gyroscopic sensor. The system is modeled using a convex Takagi-Sugeno strategy and a descriptor representation for the vehicle rotational dynamics. The proposed schemes are based upon convex observer design, using a linear matrix inequality (LMI) approach. Simulations on the nonlinear model are presented in order to validate the schemes.