Fault Detection and Diagnosis of the Tri-Rotor UAV Agianst Actuator Abnormal Behavior: Theory and Simulation

Fault Detection and Diagnosis of the Tri-Rotor UAV Agianst Actuator Abnormal Behavior: Theory and Simulation

This paper aims to realize fault detection and diagnosis of the tri-rotor unmanned aerial vehicle (UAV) under unknown abnormal actuator behaviors together with external disturbances. The Kalman filter (KF) and two-stage Kalman filter (TSKF) are utilized to detect and estimate possible anomalies respectively. The actuator anomalies are modeled as some time-varying multiplicative parameters to improve the model accuracy. Different abnormal behavior scenarios are investigated: loss of control effectiveness in one single actuator with different magnitudes, loss of control effectiveness in two actuators with different magnitudes, and simultaneous loss of control effectiveness in all actuators. Numerical simulations show the effectiveness of the proposed fault detection and diagnosis (FDD) method.