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http://dx.doi.org/10.7471/ikeee.2019.23.1.266

Actuator Fault Detection and Isolation Method for a Hexacopter  

Park, Min-Kee (Dept. of Electronic & IT Media Engineering, Seoul National University of Science and Technology)
Publication Information
Journal of IKEEE / v.23, no.1, 2019 , pp. 266-272 More about this Journal
Abstract
Multicopters have become more popular since they are advantageous in their ability to take off and land vertically. In order to guarantee the normal operations of such multicopters, the problem of fault detection and isolation is very important. In this paper, a new method for detecting and isolating an actuator fault of a hexacopter is proposed based on the analytical approach. The residual is newly defined using the angular velocities of actuators estimated by the mathematical model and an actuator fault is detected comparing the residuals to a threshold. And a fault is isolated combining a dynamic model and generated residuals when a fault is detected. The proposed method is a simple, but effective technique because it is based on mathematical model. The results of the computer simulation are also given to demonstrate the validity of the proposed algorithm in case of a single failure.
Keywords
Hexacopter; Fault Detection; Faut Isolation; Residual; Actuator Fault; FDI System;
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