一种四旋翼无人机故障诊断比较方法

2022 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC) Pub Date : 2022-11-09 DOI:10.1109/ROPEC55836.2022.10018633

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

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引用次数: 0

摘要

本文介绍了应用于四旋翼无人机陀螺仪传感器的故障检测与隔离(FDI)方法和故障检测与估计方案(FDE)之间的比较。该系统采用凸Takagi-Sugeno策略和车辆旋转动力学的描述符表示进行建模。该方案基于凸观测器设计，采用线性矩阵不等式(LMI)方法。在非线性模型上进行了仿真验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Fault Diagnosis Comparative Approach for a Quadrotor UAV

This work presents a comparative between a Fault Detection and Isolation (FDI) approach, and a Fault Detection and Estimation scheme (FDE) applied to a quadrotor UAV gyroscopic sensor. The system is modeled using a convex Takagi-Sugeno strategy and a descriptor representation for the vehicle rotational dynamics. The proposed schemes are based upon convex observer design, using a linear matrix inequality (LMI) approach. Simulations on the nonlinear model are presented in order to validate the schemes.

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来源期刊

2022 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)

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