Actuator Fault Diagnosis and Counterplan Using Extended Kalman Filter Considering Symmetry of Hexacopter UAV
Taegyun Kim, Seungkeun Kim · Journal of Institute of Control Robotics and Systems · 2021
In this study, we used the extended Kalman filter to perform actuator fault diagnosis and develop a corresponding counterplan based on the symmetry of a hexacopter unmanned aerial vehicle. A dynamic model of a hexacopter, containing six degrees of freedom and incorporating the actuator faults, was developed. Next, an extended Kalman filter was designed to estimate the efficiency coefficient of each actuator in real-time. These estimated coefficients were used to perform fault diagnosis and propose an antifault counterplan, along with a residual, based on the symmetry of the thrust generation. Finally, the applicability of the proposed approach was validated through numerical simulations of the hexacopter dynamics.