The SMAC Fault Detection and Isolation Scheme: Discussions, Improvements, and Application to a UAV
Résumé
This paper presents extensions made to the Single
Model Active Fault Detection and Isolation System (SMACFDI)
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.