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Conference papers
Quadrotor Control and Actuator Fault Detection: LQG Versus Robust $H_{-}/H_{\infty}$ observer
Abstract : This paper proposes a robust model based observer for actuators fault detection and diagnosis (FDD), applied to an unmanned aerial vehicle: quadrotor. The observer is designed aiming at maximizing the fault to residual sensitivity by using the H - index properties, and minimizing the H ∞ norm for worst case exogenous signals attenuation. Fault detection is formulated as LMI feasibility problem for minimizing a cost function based on a trade-off between fault sensitivity and robustness against disturbances. The effectiveness of the proposed observer is demonstrated through its application to a quadrotor and comparing the results with that from a Kalman filter.
https://hal.archives-ouvertes.fr/hal-02415879
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, December 17, 2019 - 1:13:12 PM
Last modification on : Monday, July 6, 2020 - 5:57:57 PM
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, December 17, 2019 - 1:13:12 PM
Last modification on : Monday, July 6, 2020 - 5:57:57 PM