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

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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]
Copyright of Circuits, Systems & Signal Processing is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: <searchLink fieldCode="AR" term="%22Liu%2C+Chun%22">Liu, Chun</searchLink><relatesTo>1</relatesTo><i> liuchun77@126.com</i><br /><searchLink fieldCode="AR" term="%22Jiang%2C+Bin%22">Jiang, Bin</searchLink><relatesTo>1</relatesTo><i> binjiang@nuaa.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Zhang%2C+Ke%22">Zhang, Ke</searchLink><relatesTo>1</relatesTo><i> kezhang@nuaa.edu.cn</i>
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  Data: <searchLink fieldCode="JN" term="%22Circuits%2C+Systems+%26+Signal+Processing%22">Circuits, Systems & Signal Processing</searchLink>. Oct2016, Vol. 35 Issue 10, p3555-3574. 20p.
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  Data: <searchLink fieldCode="DE" term="%22Fault+diagnosis%22">Fault diagnosis</searchLink><br /><searchLink fieldCode="DE" term="%22Adaptive+codes%22">Adaptive codes</searchLink><br /><searchLink fieldCode="DE" term="%22Sliding+mode+control%22">Sliding mode control</searchLink><br /><searchLink fieldCode="DE" term="%22Quadrotor+helicopters%22">Quadrotor helicopters</searchLink><br /><searchLink fieldCode="DE" term="%22Nanosatellite+attitude+control+systems%22">Nanosatellite attitude control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Coordinate+transformations%22">Coordinate transformations</searchLink>
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  Data: 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]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Circuits, Systems & Signal Processing is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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      – SubjectFull: Sliding mode control
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              Text: Oct2016
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