Interval Observer-Based Fault Detection and Isolation for Quadrotor UAV with Cable-Suspended Load

Zhu, Xiaoyuan; Li, Yuxue; Yin, Guodong; Patton, Ron J.

doi:10.1109/TSMC.2024.3411315

Interval Observer-Based Fault Detection and Isolation for Quadrotor UAV with Cable-Suspended Load

Zhu, Xiaoyuan; Li, Yuxue; Yin, Guodong; Patton, Ron J.

Authors

Xiaoyuan Zhu

Yuxue Li

Guodong Yin

Professor Ron Patton R.J.Patton@hull.ac.uk
Emeritus Professor of Control and Intelligent Systems Engineering

Abstract

This article proposes an actuator fault detection and isolation (FDI) scheme for quadrotor unmanned aerial vehicle (UAV) with a cable-suspended load. First, a linear parameter-varying (LPV) model of quadrotor UAV is established, in which the effects of cable-suspended load are considered. Then, a state boundary-based FDI design is systemically presented. A bank of interval observers is constructed to build the preliminary upper and lower boundaries of system states under healthy conditions, where H-/H∞ performance is applied to enhance its robustness against disturbances and sensitivity to faults. Furthermore, a novel updating strategy is further proposed to periodically adjust state boundaries to cope with the effects of varying wind disturbances. Finally, based on the QDrone platform, experimental tests under random faults are carried out to verify the effectiveness and performance of the proposed scheme.

Citation

Zhu, X., Li, Y., Yin, G., & Patton, R. J. (2024). Interval Observer-Based Fault Detection and Isolation for Quadrotor UAV with Cable-Suspended Load. IEEE transactions on systems, man, and cybernetics. Systems, 54(10), 5876-5888. https://doi.org/10.1109/TSMC.2024.3411315

Journal Article Type	Article
Acceptance Date	Jun 5, 2024
Online Publication Date	Jul 2, 2024
Publication Date	Jan 1, 2024
Deposit Date	Jun 15, 2024
Publicly Available Date	Jul 8, 2024
Journal	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Print ISSN	2168-2216
Publisher	Institute of Electrical and Electronics Engineers
Peer Reviewed	Peer Reviewed
Volume	54
Issue	10
Pages	5876-5888
DOI	https://doi.org/10.1109/TSMC.2024.3411315
Keywords	Fault detection and isolation (FDI); $H_{-}/H_{\infty}$ performance; Interval observers; Quadrotor unmanned aerial vehicle (UAV); State boundary
Public URL	https://hull-repository.worktribe.com/output/4710675

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