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Quadrotor Actuator Fault Detection Considering the Aerodynamic Effect of Propellers

Quadrotor Actuator Fault Detection Considering the Aerodynamic Effect of Propellers
Alternative Title
프로펠러의 공기역학적 특성을 고려한 쿼드로터 액추에이터 고장 감지
Hyukjin Lee
DGIST Authors
Hyukjin LeeYongsoon EunKyoung-Dae Kim
Kyoung-Dae Kim
Issued Date
Awarded Date
Fault Detection, Geometric approach, Unobservable Subspace, Quadrotor, Actuator, Aerodynamic Effect
One of the malfunctions that can happen in the operating quadrotor is the actuator fault. The fault signal appears in the form of motor power degradation or complete loss. It can have catastrophic consequences, such as a crash, for the operating quadrotor. So, fault signal detection and fault-tolerant control are needed when a faulty situation occurs. In this regard, it is necessary to find out which actuator has failed first.

This thesis describes how to detect fault signals in actuators based on the dynamic model of quadrotors. There are two dynamic models of quadrotors used in this thesis. One is a model that assumes the quadrotor dynamics in an ideal environment. It represents the quadrotor dynamics relatively straightforward, so it is commonly used in most studies using quadrotors. The other is a model that considers the effect of aerodynamic properties generated by the rotation of propellers. Linear state equations are obtained for each two quadrotor models when the quadrotor hovers to apply the fault detection method.

The fault detection method used in this thesis is called a geometric approach, using the subspaces of the error system expressed as the estimation error of the linear system. We use the characteristics of the subspaces of the error system to design suitable filters for actuator fault detection.

To analyze the performance of the designed fault detection filter, a simulation based on MATLAB Simulink was used. We verified the performance of the designed fault detection filters and checked the effects of aerodynamic properties by the rotation of propellers on fault detection performance.
Table Of Contents
1. Introduction 1
1.1. Motivation 2
1.2. Existing literature 3
1.3. Contribution 3
1.4. Thesis outline 4

2 Mathematical Preliminaries 5
2.1 Notations and backgrounds 5
2.2 (C,A)-invariant subspaces 7
2.3 Unobservable subspaces 8

3 Quadrotor dynamics 9
3.1 Classical quadrotor model 10
3.2 Aerodynamic effect of propellers 11
3.3 Modeling of the drag force and drag torque 14
3.4 Linearization and controller design 16

4 Fault Detection Problems 19
4.1 Fault detection problems 20
4.1.1 Algorithm for (C,A)-invariant subspaces 22
4.1.2 Algorithm for unobservable subspaces 22
4.1.3 Solvability condition 23
4.1.4 Design condition of the observer gain G_i 24
4.1.5 Design condition of the filter matrix H_i 24
4.2 Special case when C is full rank 25
4.3 Designing fault detection filters in classical quadrotor model 25
4.4 Designing fault detection filters in detailed quadrotor model 35

5 Simulation 43
5.1 Simulation environment 43
5.2 Simulation result 43

6 Conclusion 61

A Matrices in linearization 63

B General case when C is not full rank with TE-PCS 67

Bibliography 75

국문초록 77
Information and Communication Engineering
Related Researcher
  • 은용순 Eun, Yongsoon 전기전자컴퓨터공학과
  • Research Interests Resilient control systems; Control systems with nonlinear sensors and actuators; Quasi-linear control systems; Intelligent transportation systems; Networked control systems
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Department of Electrical Engineering and Computer Science Theses Master


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