Robust Three Stage Central Difference Kalman Filter for Helicopter Unmanned Aerial Vehicle Actuators Fault Estimation

Document Type : Original Article

Authors

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

2 Department of Electrical Engineering, University of Shahid Beheshti, Tehran, Iran

Abstract

This paper proposes state and fault estimations for uncertain time-varying nonlinear stochastic systems with unknown inputs. we suppose, the information about the fault and unknown inputs is not perfectly known. For this purpose, in this manuscript, we developed a robust three-stage central difference Kalman filter (RThSCDKF). We used RThSCDKF for model-based fault detection and identification (FDI) in nonlinear hover mode of helicopter unmanned aerial vehicle (HUAV) in the presence of external disturbance. In this system, actuator faults are affected by each other. The proposed method estimates and decouples actuator faults in the presence of external disturbances. This model can detect stuck and floating faults that are important to detect. At the end, this method is compared with the three-stage extended Kalman filter (ThSEKF). Simulation results show the effectiveness of the proposed robust method for detection and isolation of various actuator faults and also this shows more accuracy with respect to ThSEKF.

Keywords

References

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International Journal of Engineering
Volume 34, Issue 5
TRANSACTIONS B: Applications
May 2021
Pages 1290-1296

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