Actuator Fault Detection and Isolation for Helicopter Unmanned Arial Vehicle in the Present of Disturbance

Document Type : Original Article

Authors

Department of Electrical and Computer Engineering, University of Kashan, Kashan, Iran

Abstract

Helicopter unmanned aerial vehicle (HUAV) are an ideal platform for academic researchs. Abilities of this vehicle to take off and landing vertically while performing hover flight and various flight maneuvers have made them proper vehicles for a wide range of applications. This paper suggests a model-based fault detection and isolation for HUAV in hover mode. Moreover in HUAV, roll, pitch and yaw actuator faults are coupled and affect each other, hence, we need a method that decouples them and also separates fault from disturbance. For this purpose, a robust unknown input observer (UIO) is designed to detect bias fault and also catastrophic fault such as stuck in actuators of HUAV. The robust UIO isolates roll and pitch actuator faults from yaw actuator fault. The novelty of this manuscript is the design of two UIO observers to detect and decouple the faults of helicopter actuators, one for lateral and longitudinal actuators and the other for pedal actuator. Also, the proposed method is compared with extended Kalman filter (EKF). Simulation results show effectiveness of the proposed method for detection and isolation of actuator faults with less number of observers and it is able to decouple fault and disturbance effects.

Keywords


1.     Liu, C., Jiang, B., and Zhang, K., "Incipient Fault Detection Using an Associated Adaptive and Sliding-Mode Observer for Quadrotor Helicopter Attitude Control Systems", Circuits, Systems, and Signal Processing, Vol. 35, No. 10, (2016), 3555–3574. doi:10.1007/s00034-015-0229-8
2.     Zhang, Y. M., Chamseddine, A., Rabbath, C. A., Gordon, B. W., Su, C.-Y., Rakheja, S., Fulford, C., Apkarian, J., and Gosselin, P., "Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed", Journal of the Franklin Institute, Vol. 350, No. 9, (2013), 2396–2422. doi:10.1016/j.jfranklin.2013.01.009
3.     Ducard, G., and Geering, H. P., "Efficient Nonlinear Actuator Fault Detection and Isolation System for Unmanned Aerial Vehicles", Journal of Guidance, Control, and Dynamics, Vol. 31, No. 1, (2008), 225–237. doi:10.2514/1.31693
4.     Ducard, G. J. J., "Fault-tolerant Flight Control and Guidance Systems", Practical Methods for Small Unmanned Aerial Vehicles, London, Springer London, (2009). doi:10.1007/978-1-84882-561-1
5.     Younes, Y. Al, Noura, H., Rabhi, A., and Hajjaji, A. El, "Actuator Fault-Diagnosis and Fault-Tolerant-Control using intelligent-Output-Estimator Applied on Quadrotor UAV", 2019 International Conference on Unmanned Aircraft Systems (ICUAS), (2019), IEEE, 413–420. doi:10.1109/ICUAS.2019.8798232
6.     Lee, W.-C., and Choi, H.-L., "Interactive Multiple Neural Adaptive Observer based Sensor and Actuator Fault Detection and Isolation for Quadcopter", 2019 International Conference on Unmanned Aircraft Systems (ICUAS), (2019), IEEE, 388–396. doi:10.1109/ICUAS.2019.8797779
7.     Zhong, Y., Zhang, Y., Zhang, W., Zuo, J., and Zhan, H., "Robust Actuator Fault Detection and Diagnosis for a Quadrotor UAV With External Disturbances", IEEE Access, Vol. 6, (2018), 48169–48180. doi:10.1109/ACCESS.2018.2867574
8.     He, Z., Wei, J., and Hou, B., "Detecting Incipient Faults in Quad-rotor Unmanned Aerial Vehicle Based on Detrending and Denoising Techniques", 2018 IEEE 7th Data Driven Control and Learning Systems Conference (DDCLS), (2018), IEEE, 959–964. doi:10.1109/DDCLS.2018.8515954
9.     Yi, Y., and Zhang, Y., "Fault diagnosis of an unmanned quadrotor helicopter based on particle filter", 2017 International Conference on Unmanned Aircraft Systems (ICUAS), (2017), IEEE, 1432–1437. doi:10.1109/ICUAS.2017.7991322
10.   Avram, R. C., Zhang, X., and Muse, J., "Quadrotor Actuator Fault Diagnosis and Accommodation Using Nonlinear Adaptive Estimators", IEEE Transactions on Control Systems Technology, Vol. 25, No. 6, (2017), 2219–2226. doi:10.1109/TCST.2016.2640941
11.   McLean, D., "Aircraft flight control systems", The Aeronautical Journal, Vol. 103, No. 1021, (1999), 159–166. doi:10.1017/S0001924000064976
12.   Barczyk, M., Nonlinear State Estimation and Modeling of a Helicopter UAV, Doctoral dissertations, University of Alberta, (2012).
13.   Faraji, A., Nejati, Z., and Abedi, M., "Actuator Faults Estimation for a Helicopter UAV in the Presence of Disturbances", Journal of Control, Automation and Electrical Systems, Vol. 31, No. 5, (2020), 1153–1164. doi:10.1007/s40313-020-00621-9
14.   Cai, G., Chen, B. M., and Lee, T. H., Unmanned Rotorcraft Systems, London, Springer London, (2011). doi:10.1007/978-0-85729-635-1