Fault Estimation Method for Nonlinear Time-Delay System Based on Intermediate Observer-Application on Quadrotor...

Area of Science:

• Control Engineering
• Robotics
• Fault Diagnosis

Background:

• Quadrotor unmanned aerial vehicles (QUAVs) are susceptible to actuator and sensor faults.
• System complexities include time delays, nonlinearities, and external disturbances during flight.
• Accurate fault diagnosis is crucial for safe and reliable QUAV operation.

Purpose of the Study:

• To develop a robust fault estimation algorithm for QUAVs.
• To address both single actuator faults and simultaneous actuator and sensor faults.
• To ensure the stability and boundedness of estimation errors.

Main Methods:

• A fault estimation algorithm based on an intermediate observer is proposed.
• For single actuator faults, an intermediate variable and observer are designed.
• For simultaneous faults, system augmentation and two intermediate variables are utilized.
• Lyapunov-Krasovskii functional is employed for stability analysis.

Main Results:

• The proposed intermediate observer effectively estimates faults in the QUAV system.
• The method successfully handles simultaneous actuator and sensor faults.
• The estimation error system is proven to be uniformly eventually bounded.
• Simulation results demonstrate the method's feasibility and effectiveness.

Conclusions:

• The developed fault estimation algorithm enhances the safety and reliability of QUAVs.
• The approach provides a robust solution for diagnosing complex fault scenarios.
• This work contributes to the advancement of fault-tolerant control systems for aerial vehicles.