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Diagnosis of Icing and Actuator Faults in UAVs Using LPV Unknown Input Observers

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Abstract

This paper proposes a discrete-time linear parameter varying (LPV) unknown input observer (UIO) for the diagnosis of actuator faults and ice accretion in unmanned aerial vehicles (UAVs). The proposed approach, which is suited to an implementation on-board, exploits a complete 6-degrees of freedom (DOF) UAV model, which includes the coupled longitudinal/lateral dynamics and the impact of icing. The LPV formulation has the advantage of allowing the icing diagnosis scheme to be consistent with a wide range of operating conditions. The developed theory is supported by simulations illustrating the diagnosis of actuator faults and icing in a small UAV. The obtained results validate the effectiveness of the proposed approach.

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Acknowledgements

This work has been supported by the Research Council of Norway through the Centres of Excellence funding scheme (ref. 223254 - AMOS). Damiano Rotondo is also supported by the ERCIM Alain Bensoussan Fellowship programme. This work has also been partially funded by the Spanish Government (MINECO) and FEDER through the project CICYT HARCRICS (ref. DPI2014-58104-R).

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Authors and Affiliations

  1. Centre for Autonomous Marine Operations and Systems (AMOS), Department of Engineering Cybernetics (ITK), Norwegian University of Science and Technology (NTNU), Trondheim, Norway

    Damiano Rotondo & Tor Arne Johansen

  2. Scuola di Scienze e Tecnologie, Università di Camerino, Camerino, MC, Italy

    Andrea Cristofaro

  3. Advanced Control Systems (SAC), Universitat Politècnica de Catalunya (UPC), Terrassa, Spain

    Damiano Rotondo, Fatiha Nejjari & Vicenç Puig

  4. Institut de Robòtica i Informàtica Industrial (IRI), UPC-CSIC, Barcelona, Spain

    Vicenç Puig

Authors
  1. Damiano Rotondo
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  2. Andrea Cristofaro
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  3. Tor Arne Johansen
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  4. Fatiha Nejjari
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  5. Vicenç Puig
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Correspondence to Damiano Rotondo.

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Rotondo, D., Cristofaro, A., Johansen, T.A. et al. Diagnosis of Icing and Actuator Faults in UAVs Using LPV Unknown Input Observers. J Intell Robot Syst 91, 651–665 (2018). https://doi.org/10.1007/s10846-017-0716-1

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  • DOI: https://doi.org/10.1007/s10846-017-0716-1

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