Journal of Shandong University(Engineering Science) ›› 2019, Vol. 49 ›› Issue (1): 66-74.doi: 10.6040/j.issn.1672-3961.0.2018.539

• Control Science & Engineering • Previous Articles     Next Articles

Fault detection for unmanned aerial vehicle systems based on strong tracking H-/H∞ optimization

Xiaoqiang ZHU,Maiying ZHONG*   

  1. School of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, Shandong, China
  • Received:2018-12-18 Online:2019-02-01 Published:2019-03-01
  • Contact: Maiying ZHONG
  • Supported by:
    国家自然科学基金资助项目(61873149);国家自然科学基金资助项目(61333005);国家自然科学基金资助项目(61733009);山东省泰山学者优势特色学科人才团队资助项目

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Abstract:

The fault detection method based on the strong tracking H-/H∞ optimization was proposed for a class of unmanned aerial vehicle (UAV) flight control systems. Both the actuator fault and sensor fault were expressed as additive signals, and a nonlinear longitudinal faulty model for a class of UAV was established where the wind disturbance was considered. The design problem of the residual generator was formulated as an extended H-/H∞ optimization one. Inspired by the fast convergence of the strong tracking filter (STF), the STF was introduced to the extended H-/H∞ optimization to realize fast fault detection (FD) for UAV flight control systems. The simulation experiment was carried out with a loss of effectiveness of the elevator and an intermittent fault of the pitot. The simulation results showed that the faults could be detected rapidly through the proposed method. The fault detection method based on the strong tracking H-/H∞ optimization could be applied to the fault detection of UAV flight control systems.

Key words: nonlinear system, fault detection, strong tracking filter, extended H-/H∞, optimization problem

CLC Number: 

  • TQ028

Fig.1

The wind disturbance signals"

Fig.2

Evaluation function in the case of elevator fault"

Fig.3

Residuals in the case of elevator fault"

Fig.4

Evaluation function in the case of pitot fault"

Fig.5

Residuals in the case of elevator fault"

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