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Volume 41 Issue 7
Jul.  2015
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Journal of Beijing University of Aeronautics and Astronautics  > 2015  >  41(7): 1300-1306.
ZHANG He, ZHONG Maiying. NUIO based actuator fault detection for a UAV[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(7): 1300-1306. doi: 10.13700/j.bh.1001-5965.2014.0522(in Chinese)
Citation: ZHANG He, ZHONG Maiying. NUIO based actuator fault detection for a UAV[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(7): 1300-1306. doi: 10.13700/j.bh.1001-5965.2014.0522(in Chinese)
shu

NUIO based actuator fault detection for a UAV

doi: 10.13700/j.bh.1001-5965.2014.0522

  • School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 22 Aug 2014
  • Rev Recd Date: 21 Nov 2014
  • Publish Date: 20 Jul 2015
    Abstract
  • The actuator fault detection for an unmanned aerial vehicle (UAV) longitudinal system with unknown atmospheric disturbances and stochastic noise was studied. Based on introducing a nonlinear longitudinal model of the fixed UAV, a residual generation was designed by employing a nonlinear unknown input observer (NUIO) which is based on cubature Kalman filter (CKF). The unknown input observer structure was constructed to decouple the unknown disturbances from residual. At the same time, the CKF was applied to calculate the gain matrix to achieve the requirement of robustness to noise. Finally, the occurrence of fault can be detected based on chi-square test about the residual sequence. The simulation results show that the proposed method can decouple the unknown disturbances from residual effectively and achieve the fast and accurate actuator fault detection.

     

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