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.
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Freddi, A., Longhi, S. & Monteriù, A. A Diagnostic Thau Observer for a Class of Unmanned Vehicles. J Intell Robot Syst 67, 61–73 (2012). https://doi.org/10.1007/s10846-012-9650-4
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DOI: https://doi.org/10.1007/s10846-012-9650-4