### Fault detection of unmanned aerial vehicle flight control system based on optimal estimation of the L2-norm

CHEN Jie1, ZHONG Maiying2*, ZHANG Ligang3

1. 1. School of Instrument Science and Opto-electronic Engineering, Beihang University, Beijing 100191, China;
2. College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China;
3. Unmanned Systems Research Institute, Beihang University, Beijing 100191, China
• Received:2017-02-10 Online:2017-10-20 Published:2017-02-10

Abstract: In order to realize the rapid online failt detection of unmanned aerial vehicle(UAV)flight control system, a fault detection approach based on optimal estimation of the L2-norm was proposed to the fault detection(FD)of UAV nonlinear flight control system. The nonlinear fault model of UAV flight control system was established, and an optimal estimation of the L2-norm of the unknowninputs was found to be the evaluation function for FD. On the foundation of the approach for linear discrete time-varying systems, the projection in Krein space was applied to calculate the evaluation function recursively, and thus the heavy online computational burden could be solved. The FD for UAV elevator and rate gyros was taken as an example to demonstrate the effectiveness of the proposed method. The results showed that the faults of the UAV flight control system could be detected rapidly through the proposed approach, and the safety of UVA could be guaranteed reliably.

CLC Number:

• TP206
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