Robust fault and icing diagnosis in unmanned aerial vehicles using LPV interval observers

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Robust fault and icing diagnosis in unmanned aerial vehicles using LPV interval observers

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Rotondo, Damiano / Cristofaro, Andrea / Johansen, Tor Arne / Nejjari Akhi-Elarab, Fatiha / Puig Cayuela, Vicenç

This paper proposes a linear parameter varying (LPV) interval unknown input observer (UIO) for therobust fault diagnosis of actuator faults and ice accretion in unmanned aerial vehicles (UAVs) describedby an uncertain model. The proposed interval observer evaluates the set of values for the state which arecompatible with the nominal fault-free and icing-free operation, and can be designed in such a way that someinformation about the nature of the unknown inputs affecting the system can be obtained, thus allowing thediagnosis to be performed. The proposed strategy has several advantages. First, the LPV paradigm allowstaking into account operating point variations. Second, the noise rejection properties are enhanced by thepresence of the integral term. Third, the interval estimation property guarantees the absence of false alarms.Linear matrix inequality (LMI)-based conditions for the analysis/design of these observers are provided inorder to guarantee the interval estimation of the state and the boundedness of the estimation. The developedtheory is supported by simulation results, obtained with the uncertain model of a Zagi Flying Wing UAV,which illustrate the strong appeal of the methodology for identifying correctly unexpected changes in thesystem dynamics due to actuator faults or icing ; Peer Reviewed ; Postprint (author's final draft)

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Title :

Robust fault and icing diagnosis in unmanned aerial vehicles using LPV interval observers

Contributors:

Rotondo, Damiano (author) / Cristofaro, Andrea (author) / Johansen, Tor Arne (author) / Nejjari Akhi-Elarab, Fatiha (author) / Puig Cayuela, Vicenç (author) / Institut de Robòtica i Informàtica Industrial / Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial / Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control

Publication date :

2018-01-01

DOI :

https://doi.org/10.1002/rnc.4381

Type of media :

Article (Journal)

Type of material :

Electronic Resource

Language :

English

Keywords :

Àrees temàtiques de la UPC::Informàtica::Automàtica i control , fault diagnosis , icing diagnosis , interval observers , linear parameter varying (LPV) systems , unknown input observers (UIOs) , unmanned aerial vehicles (UAVs) , Classificació INSPEC::Automation