Fault Diagnosis and Estimation for a Quadrotor UAV

Abstract

This paper presents a Fault Detection and Estimation (FDE) scheme for a quadrotor UAV gyroscopic sensor, using a Takagi-Sugeno (TS) model for the rotational dynamics of the vehicle, with an Unknown Input Observer (UIO). The proposed scheme is solved with usage of linear matrix inequalities (LMIs) theory, and validated with nonlinear simulations.