Bank of Kalman Filters for Fault Detection in Quadrotor MAV
Fault Detection and Identification (FDI) is a subfield of control engineering which concerns with self-monitoring system, identifying and pinpointing the type and location of failures. This study proposes the application of Kalman Filter for fault detection in quad rotor type MAV. It begins with t...
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| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2015
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/11350/1/Bank%20of%20Kalman%20Filters%20for%20Fault%20Detection%20in%20Quadrotor%20MAV.pdf http://umpir.ump.edu.my/id/eprint/11350/ |
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| Summary: | Fault Detection and Identification (FDI) is a subfield of control engineering which concerns with self-monitoring
system, identifying and pinpointing the type and location of failures. This study proposes the application of Kalman Filter
for fault detection in quad rotor type MAV. It begins with the development of model of quad rotor, based on rigid body
dynamic. The bank of Kalman filters consists of six filters that are associated with the total number of the degree of
freedom of the quad rotor. The performance of the fault detection is conducted by simulation using Simulink, Matlab. The
result shows that the developed bank of Kalman filters has good performance in detecting a sensor failure during a
hovering condition |
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