Simultaneous state and parameter estimation based actuator fault detection and diagnosis for an unmanned helicopter
Chong Wu, Juntong Qi, Dalei Song, Xin Qi, Jianda Han (2015)
International Journal of Applied Mathematics and Computer Science
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Simultaneous state and parameter estimation based actuator fault detection and diagnosis (FDD) for single-rotor unmanned helicopters (UHs) is investigated in this paper. A literature review of actuator FDD for UHs is given firstly. Based on actuator healthy coefficients (AHCs), which are introduced to represent actuator faults, a combined dynamic model is established with the augmented state containing both the flight state and AHCs. Then the actuator fault detection and diagnosis problem...