四旋翼无人机故障诊断与估计

2021 XXIII Robotics Mexican Congress (ComRob) Pub Date : 2021-10-27 DOI:10.1109/comrob53312.2021.9628677

J. J. Avilés-Espinoza, J. Anzurez-Marín, F. López‐Estrada

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引用次数: 1

摘要

提出了一种四旋翼无人机陀螺仪传感器的故障检测与估计方案，该方案采用Takagi-Sugeno (TS)模型对飞行器进行旋转动力学分析，并引入未知输入观测器(UIO)。利用线性矩阵不等式理论对该方案进行了求解，并进行了非线性仿真验证。

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Fault Diagnosis and Estimation for a Quadrotor UAV

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.

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2021 XXIII Robotics Mexican Congress (ComRob)

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