Fault detection based on extended state observer and interval observer for UAVs
Aircraft Engineering and Aerospace Technology
ISSN: 0002-2667
Article publication date: 6 May 2022
Issue publication date: 5 December 2022
Abstract
Purpose
The purpose of this paper is to present an actuator fault detection method for unmanned aerial vehicles (UAVs) based on interval observer and extended state observer.
Design/methodology/approach
The proposed algorithm has very little model dependency. Therefore, a six-degree-of-freedom linear equation of UAVs is first established, and then, combined with actuator failure and external disturbances in flight control, a steering gear model with actuator failure (such as stuck bias and invalidation) is designed. Meanwhile, an extended state observer is designed for fault detection. Moreover, a fault detection scheme based on interval observer is designed by combining fault and disturbances.
Findings
The method is testified on the extended state observer and the interval observer under the failure of the steering gear and bounded disturbances. The simulation results show that the two types of fault detection schemes designed can successfully detect various types of faults and have high sensitivity.
Originality/value
This research paper studies the failure detection scheme of the UAVs’ actuator. The fault detection scheme in this paper has better performance on actuator faults and bounded disturbances than using regular fault detection schemes.
Keywords
Acknowledgements
The authors are grateful to the editors and anonymous reviewers for their critical and constructive comments, which helped to improve the quality of this paper. This paper was supported by the National Natural Science Foundation of China (No. 51905540), Sichuan Science and Technology Program (No. 2020YJ0368), Shaanxi Province Innovation Ability Support Project (2021PT-007), Zigong Science and Technology Program (No. 2019YYJC03), Opening Project of Sichuan Province University Key Laboratory of Bridge Non-destruction Detecting and Engineering Computing (2021QZJ01) and Graduate Innovation Fund Project of Sichuan University of Science & Engineering (No. D10501264).
Citation
Cao, L., Yang, X., Wang, G., Liu, Y. and Hu, Y. (2022), "Fault detection based on extended state observer and interval observer for UAVs", Aircraft Engineering and Aerospace Technology, Vol. 94 No. 10, pp. 1759-1771. https://doi.org/10.1108/AEAT-05-2021-0164
Publisher
:Emerald Publishing Limited
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