𝔖 Bobbio Scriptorium
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Sensor and actuator fault detection in small autonomous helicopters

✍ Scribed by G. Heredia; A. Ollero; M. Bejar; R. Mahtani

Publisher
Elsevier Science
Year
2008
Tongue
English
Weight
494 KB
Volume
18
Category
Article
ISSN
0957-4158

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✦ Synopsis

The use of autonomous helicopters in civilian applications requires the improvement of safety conditions to avoid potential accidents. Fault detection and isolation (FDI) plays an important role in this context. This paper presents an actuator and sensor FDI system for small autonomous helicopters. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehicle with respect to the fault-free behaviour, which is estimated by using observers. Several types of faults have been considered. The effectiveness of the proposed approach is demonstrated by means of experimental results and simulations.

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