Abstract:
This letter proposes an approach for estimating the loss of effectiveness of UAV actuators while also considering the presence of aerodynamic effects, most specifically t...Show MoreMetadata
Abstract:
This letter proposes an approach for estimating the loss of effectiveness of UAV actuators while also considering the presence of aerodynamic effects, most specifically those regarding blade-flapping. The fault detection scheme is based on a Reduced Order Extended Kalman Filter Tolerant to Aerodynamic Effects (ROEKF-TAE) capable of detecting loss-of-effectiveness (LOE) faults in more than one actuator at the same time. The experimental results were performed using a Parrot Mambo micro drone and compared to those of a traditional EKF, as well as to those of a state-of-the-art adaptive Kalman Filter available in the literature. The filter proposed in this work could better distinguish between the effects of the actual fault and those of the blade-flapping disturbance when compared to the other filters. Also, it was able to identify with more precision which actuators were truly defective and which were not.
Published in: IEEE Robotics and Automation Letters ( Volume: 8, Issue: 3, March 2023)
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- IEEE Keywords
- Aerodynamics ,
- Actuators ,
- Rotors ,
- Quadrotors ,
- Blades ,
- Drones ,
- Mathematical models
- Index Terms
- Unmanned Aerial Vehicles ,
- Actuator In The Presence ,
- Kalman Filter ,
- Micro Air Vehicles ,
- Simulation Results ,
- Center Of Mass ,
- White Noise ,
- Mean Absolute Error ,
- Types Of Defects ,
- Inertial Measurement Unit ,
- Angular Position ,
- Horizontal Components ,
- Fault Diagnosis ,
- Adaptive Filter ,
- Inertial Frame ,
- Fault-tolerant Control ,
- Noise Sequence ,
- Actuator Faults ,
- Average Mean Absolute Error ,
- Flight Experiments ,
- Torque Vector ,
- Multiple Actuators ,
- Sleep Start ,
- White Noise Sequence ,
- Line In Fig ,
- Angular Velocity ,
- Position Vector ,
- Velocity Vector
- Author Keywords
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Aerodynamics ,
- Actuators ,
- Rotors ,
- Quadrotors ,
- Blades ,
- Drones ,
- Mathematical models
- Index Terms
- Unmanned Aerial Vehicles ,
- Actuator In The Presence ,
- Kalman Filter ,
- Micro Air Vehicles ,
- Simulation Results ,
- Center Of Mass ,
- White Noise ,
- Mean Absolute Error ,
- Types Of Defects ,
- Inertial Measurement Unit ,
- Angular Position ,
- Horizontal Components ,
- Fault Diagnosis ,
- Adaptive Filter ,
- Inertial Frame ,
- Fault-tolerant Control ,
- Noise Sequence ,
- Actuator Faults ,
- Average Mean Absolute Error ,
- Flight Experiments ,
- Torque Vector ,
- Multiple Actuators ,
- Sleep Start ,
- White Noise Sequence ,
- Line In Fig ,
- Angular Velocity ,
- Position Vector ,
- Velocity Vector
- Author Keywords