Quadrotor Control and Actuator Fault Detection: LQG Versus Robust $H_{-}/H_{\infty}$ observer

Eslam Abouselima; Dalil Ichalal; Saïd Mammar

doi:10.1109/SYSTOL.2019.8864775

Quadrotor Control and Actuator Fault Detection: LQG Versus Robust $H_{-}/H_{\infty}$ observer

Eslam Abouselima ¹ Dalil Ichalal ¹ Saïd Mammar ¹

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

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.

Keywords : Linear systems Fault detection Observers Sensor systems Kalman filters Actuators

Document type :

Conference papers

Domain :

Engineering Sciences [physics] / Automatic

Complete list of metadatas

https://hal.archives-ouvertes.fr/hal-02415879
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, December 17, 2019 - 1:13:12 PM
Last modification on : Monday, January 13, 2020 - 1:18:29 AM

Quadrotor Control and Actuator Fault Detection: LQG Versus Robust $H_{-}/H_{\infty}$ observer

Identifiers

Collections

Citation

Export

Metrics

11

Contact

Informations

Quadrotor Control and Actuator Fault Detection: LQG Versus Robust $H_{-}/H_{\infty}$ observer

Identifiers

Collections

Citation

Export

Share

Metrics

11

Contact

Informations