Fault Detection and Basic In-Flight Reconfiguration of a Small UAV Equipped with Elevons

Peter Bauer, Raghu Venkataraman, Balint Vanek, Peter J. Seiler, Jozsef Bokor

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

The paper introduces the in-flight fault detection and basic reconfiguration of a small unmanned aerial vehicle equipped with two elevons and an electric motor. The considered fault scenario is one control surface stuck at a given position during straight and level flight. The fault detection is solved with Multiple Model Adaptive Estimation considering non-faulty and faulty (left or right surface stuck) system models. Basic reconfiguration to stabilize the flight against atmospheric disturbances is done applying the remaining surface in the lateral channel and the total energy control concept to hold the airspeed and altitude between acceptable limits in the longitudinal channel. Promising results are achieved in software-in-the-loop simulation with the fault detection and reconfiguration.

Original languageEnglish (US)
Pages (from-to)600-607
Number of pages8
Journal10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes SAFEPROCESS 2018: Warsaw, Poland, 29-31 August 2018
Volume51
Issue number24
DOIs
StatePublished - 2018

Bibliographical note

Publisher Copyright:
© 2018

Keywords

  • Aircraft control
  • Control reconfiguration
  • Fault detection
  • Fault identification
  • Tracking applications

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