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Incipient Fault Detection Using an Associated Adaptive and Sliding-Mode Observer for Quadrotor Helicopter Attitude Control Systems

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Abstract

An associated adaptive and sliding-mode observer (AASMO) design is proposed to detect and estimate the incipient actuator faults of a quadrotor. The incipient faults considered are physical structure aging and quadrotor leakage. First, disturbances and nonlinear parameters are considered in system formulation for a realistic mathematical model of the quadrotor. Its fault model is also introduced. Second, the decomposed subsystems are obtained through coordinate transformations to separate the incipient faults from the disturbances. For the subsystem with no disturbance, the adaptive observer can estimate the incipient faults. For the subsystem with disturbances, the sliding-mode observer has strong robustness against the disturbances. Dynamic error convergence and system stability can also be guaranteed by Lyapunov stability theory. Finally, the simulation results of quadrotor helicopter attitude systems validate the efficiency of the proposed AASMO-based incipient fault detection algorithm.

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Acknowledgments

This work was supported by the National Natural Science Foundation of China (61533008, 61304112, 61428303), Natural Science Foundation of Jiangsu Province (BK20131364), Fund of National Engineering and Research Center for Commercial Aircraft Manufacturing (SAMC14-JS-15-053).

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Authors and Affiliations

  1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, People’s Republic of China

    Chun Liu, Bin Jiang & Ke Zhang

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  1. Chun Liu
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  2. Bin Jiang
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  3. Ke Zhang
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Correspondence to Bin Jiang.

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Liu, C., Jiang, B. & Zhang, K. Incipient Fault Detection Using an Associated Adaptive and Sliding-Mode Observer for Quadrotor Helicopter Attitude Control Systems. Circuits Syst Signal Process 35, 3555–3574 (2016). https://doi.org/10.1007/s00034-015-0229-8

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