Simultaneous observer based sensor diagnosis and speed estimation of Unmanned Aerial Vehicle

被引：28

作者：

Rafaralahy, H. ^{[1
]}

Richard, E. ^{[2
]}

Boutayeb, M. ^{[1
]}

Zasadzinski, M. ^{[1
]}

机构：

[1] Nancy Univ, Ctr Rech Automat Nancy, CRAN UMR 7039, CNRS, 186 Rue Lorraine, F-54400 Longwy, France

[2] Nancy Univ, IUT Longwy, F-54400 Longwy, France

来源：

47TH IEEE CONFERENCE ON DECISION AND CONTROL, 2008 (CDC 2008) | 2008年

关键词：

D O I：

10.1109/CDC.2008.4739369

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

In this contribution we investigate the problem of simultaneous observer based sensor diagnosis and speed estimation of Unmanned Aerial Vehicle (UAV). The main features lie in the use of a useful bank of reduced order observers to detect and isolate faulty sensors and in the same time to provide unbiased speed estimation of UAV from accelerometers. From a structural analysis, we provide all trajectories for which faults would be detected and estimated. The theoretical result is summarized into the stability analysis, established through the Lyapunov approach and Barbalat lemma. The existence condition is expressed in terms of physical variables of the UAV. Performances and easiness of implementation of the proposed technique are shown through a quadrotor UAV.

引用

页码：2938 / 2943

页数：6