This paper addresses the problem of sensor fault detection for a wide class of Unmanned Vehicles (UVs). First a general model for UVs, based on the dynamics of a 6 Degrees Of Freedom (6-DOF) rigid body, subject to gravity and actuation forces, is presented. This model is shown to satisfy the necessary conditions to the existence of a non-linear observer (Thau) when proper assumptions for the actuation forces are made. The observer can thus be used to generate diagnostic residuals inside a Fault Detection (FD) system. Finally, the proposed approach is customized for sensor fault detection on an unmanned quad-rotor vehicle, and simulation results show the effectiveness of the adopted solution.
A Diagnostic Thau Observer for a Class of Unmanned Vehicles / Freddi, Alessandro; Longhi, Sauro; Monteriu', Andrea. - In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS. - ISSN 1573-0409. - STAMPA. - 67:1(2012), pp. 61-73. [10.1007/s10846-012-9650-4]
A Diagnostic Thau Observer for a Class of Unmanned Vehicles
FREDDI, ALESSANDRO;LONGHI, SAURO;MONTERIU', Andrea
2012-01-01
Abstract
This paper addresses the problem of sensor fault detection for a wide class of Unmanned Vehicles (UVs). First a general model for UVs, based on the dynamics of a 6 Degrees Of Freedom (6-DOF) rigid body, subject to gravity and actuation forces, is presented. This model is shown to satisfy the necessary conditions to the existence of a non-linear observer (Thau) when proper assumptions for the actuation forces are made. The observer can thus be used to generate diagnostic residuals inside a Fault Detection (FD) system. Finally, the proposed approach is customized for sensor fault detection on an unmanned quad-rotor vehicle, and simulation results show the effectiveness of the adopted solution.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.