Print Email Facebook Twitter Actuator Fault Detection and Diagnosis for Quadrotors Part of: IMAV 2014: International Micro Air Vehicle Conference and Competition 2014· list the conference papers Title Actuator Fault Detection and Diagnosis for Quadrotors Author Lu, P. Van Kampen, E.-J. Yu, B. Date 2014-08-12 Abstract This paper presents a method for fault detection and diagnosis of actuator loss of effectiveness for a quadrotor helicopter. This paper not only considers the detection of the actuator loss of effectiveness faults, but also addresses the diagnosis of the faults. The detection and estimation of the faults are performed by the Augmented Extended Kalman Filter. The faults are modelled as random walk processes and are treated as additional states which makes the fault estimation unbiased. The estimated faults can be further used for Fault Tolerant Control. Simulation both without and with the occurrence of the actuator faults demonstrates the effectiveness of the proposed approach. Subject IMAV2014MAVquadrotorsfault detection To reference this document use: https://doi.org/10.4233/uuid:0181d3dd-fa3b-4abf-8587-60faa6e8c17d Part of collection Conference proceedings Document type conference paper Rights (c) 2014 Lu, P.; Van Kampen, E.-J.; Yu, B. Files PDF 58_pdfsam_imav2014_proceedings.pdf 606.02 KB Close viewer /islandora/object/uuid:0181d3dd-fa3b-4abf-8587-60faa6e8c17d/datastream/OBJ/view