摘要
故障检测与隔离(FDI)对于增强四旋翼飞行器的安全性和鲁棒性具有重要作用。提出了一种四旋翼飞行器执行器故障的FDI方法。首先建立了四旋翼飞行器的简化线性模型。然后研究了基于未知输入观测器(UIO)的故障检测与隔离方案。针对四个执行器,分别设计了四个UIO以产生通用结构化残差组,对执行器故障进行检测与隔离。仿真实验证实了该FDI方案的可行性。
The fault detection and isolation（FDI） places an important role in enhancing the safety and robustness of a quadrotor.In this paper,a simplified linear dynamic model of the quadrotor rotorcraft was introduced.An FDI scheme based on unknown input observer（UIO） for actuator faults of the quadrotor was proposed.A generalized structure residual set was designed via four UIOs to detect and isolate faults of the four actuators.Simulation results show the effectiveness of the proposed FDI scheme.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2013年第1期125-130,共6页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(61203073)
