# 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.
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Conference papers
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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

### Citation

Eslam Abouselima, Dalil Ichalal, Saïd Mammar. Quadrotor Control and Actuator Fault Detection: LQG Versus Robust $H_{-}/H_{\infty}$ observer. 4th Conference on Control and Fault Tolerant Systems (SysTol 2019), Sep 2019, Casablanca, Morocco. pp.86--91, ⟨10.1109/SYSTOL.2019.8864775⟩. ⟨hal-02415879⟩

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