The SMAC Fault Detection and Isolation Scheme: Discussions, improvements, and application to a UAV

This paper presents extensions made to the Single Model Active Fault Detection and Isolation System (SMAC-FDI) presented previously by the author. The SMAC-FDI system is designed to efficiently detect and isolate a faulty actuator in a system, such as a small aircraft. The implementation of the filter, which generates state residuals has been revisited and improved. Moreover, the paper presents a complete parameter-tuning strategy for the FDI system. In addition, the robustness of the SMAC-FDI method is tested in the presence of model uncertainties and realistic sensor noise. Finally, the presented concepts are backed-up by simulations of a small unmanned aircraft experiencing successive actuator failures.