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Paper details
Number 4 - December 2014
Volume 24 - 2014
Fault diagnosis in a networked control system under communication constraints: A quadrotor application
Karim Chabir, Mohamed Amine Sid, Dominique Sauter
Abstract
This paper considers the problem of attitude sensor fault diagnosis in a quadrotor helicopter. The proposed approach is
composed of two stages. The first one is the modelling of the system attitude dynamics taking into account the induced
communication constraints. Then a robust fault detection and evaluation scheme is proposed using a post-filter designed
under a particular design objective. This approach is compared with previous results based on the standard Kalman filter
and gives better results for sensor fault diagnosis.
Keywords
networked control systems, transmission delays, robust residual generation, adaptive residual evaluation