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

Zhu, Xiaoyuan; Li, Yuxue; Yin, Guodeng; Patton, Ron


Xiaoyuan Zhu

Yuxue Li

Guodeng Yin


This paper proposes an actuator fault detection and isolation (FDI) scheme for quadrotor unmanned aerial vehicle (UAV) with cable-suspended load. First, a linear parametervarying (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 Hinf 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.


Zhu, X., Li, Y., Yin, G., & Patton, R. (in press). Interval Observer-based Fault Detection and Isolation for Quadrotor UAV with Cable-Suspended Load. IEEE transactions on systems, man, and cybernetics. Systems,

Journal Article Type Article
Acceptance Date Jun 5, 2024
Online Publication Date Jul 2, 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
Keywords Fault detection and isolation (FDI); $H_{-}/H_{\infty}$ performance; Interval observers; Quadrotor unmanned aerial vehicle (UAV); State boundary
Public URL


Accepted manuscript (11.3 Mb)

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