Simultaneous disturbance compensation and H_i/H_∞ optimization in fault detection of UAVs

• Autorzy: Liu H. , Zhong M. , Yang R.

Identyfikatory

DOI

10.2478/amcs-2018-0026

• Języki publikacji: EN

Abstrakty

EN

This paper deals with the problem of robust fault detection (FD) for an unmanned aerial vehicle (UAV) flight control system (FCS). A nonlinear model to describe the UAV longitudinal motions is introduced, in which multiple sources of disturbances include wind effects, modeling errors and sensor noises are classified into groups. Then the FD problem is formulated as fault detection filter (FDF) design for a kind of nonlinear discrete time varying systems subject to multiple disturbances. In order to achieve robust FD performance against multiple disturbances, simultaneous disturbance compensation and H_i/H_∞ optimization are carried out in designing the FDF. The optimality of the proposed FDF is shown in detail. Finally, both simulations and real flight data are applied to validate the proposed method. An improvement of FD performance is achieved compared with the conventional H_i/H_∞-FDF.

Słowa kluczowe

EN

fault detection; disturbance compensation; unmanned aerial vehicle

PL

detekcja uszkodzeń; kompensacja zakłóceń; bezzałogowy statek powietrzny

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2018
• Tom: Vol. 28, no. 2
• Strony: 349--362
• Opis fizyczny: Bibliogr. 38 poz., tab., wykr.

Twórcy

autor

Liu H.

• Department of Inertia Technology and Navigation Instrumentation, Beihang University, Beijing 100191, China

autor

Zhong M.

• College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China

autor

Yang R.

• College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).