Incipient Fault Detection Using an Associated Adaptive and Sliding-Mode Observer for Quadrotor Helicopter Attitude Control Systems.

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Bibliographic Details
Title:	Incipient Fault Detection Using an Associated Adaptive and Sliding-Mode Observer for Quadrotor Helicopter Attitude Control Systems.
Authors:	Liu, Chun¹ liuchun77@126.com, Jiang, Bin¹ binjiang@nuaa.edu.cn, Zhang, Ke¹ kezhang@nuaa.edu.cn
Source:	Circuits, Systems & Signal Processing. Oct2016, Vol. 35 Issue 10, p3555-3574. 20p.
Subjects:	Fault diagnosis, Adaptive codes, Sliding mode control, Quadrotor helicopters, Nanosatellite attitude control systems, Coordinate transformations
Abstract:	An associated adaptive and sliding-mode observer (AASMO) design is proposed to detect and estimate the incipient actuator faults of a quadrotor. The incipient faults considered are physical structure aging and quadrotor leakage. First, disturbances and nonlinear parameters are considered in system formulation for a realistic mathematical model of the quadrotor. Its fault model is also introduced. Second, the decomposed subsystems are obtained through coordinate transformations to separate the incipient faults from the disturbances. For the subsystem with no disturbance, the adaptive observer can estimate the incipient faults. For the subsystem with disturbances, the sliding-mode observer has strong robustness against the disturbances. Dynamic error convergence and system stability can also be guaranteed by Lyapunov stability theory. Finally, the simulation results of quadrotor helicopter attitude systems validate the efficiency of the proposed AASMO-based incipient fault detection algorithm. [ABSTRACT FROM AUTHOR]
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Database:	Engineering Source

Description
Abstract:	An associated adaptive and sliding-mode observer (AASMO) design is proposed to detect and estimate the incipient actuator faults of a quadrotor. The incipient faults considered are physical structure aging and quadrotor leakage. First, disturbances and nonlinear parameters are considered in system formulation for a realistic mathematical model of the quadrotor. Its fault model is also introduced. Second, the decomposed subsystems are obtained through coordinate transformations to separate the incipient faults from the disturbances. For the subsystem with no disturbance, the adaptive observer can estimate the incipient faults. For the subsystem with disturbances, the sliding-mode observer has strong robustness against the disturbances. Dynamic error convergence and system stability can also be guaranteed by Lyapunov stability theory. Finally, the simulation results of quadrotor helicopter attitude systems validate the efficiency of the proposed AASMO-based incipient fault detection algorithm. [ABSTRACT FROM AUTHOR]
ISSN:	0278081X
DOI:	10.1007/s00034-015-0229-8