Detection of icing and actuators faults in the longitudinal dynamics of small UAVs using an LPV proportional integral unknown input observer

• Main Authors: Rotondo, Damiano, Cristofaro, Andrea, Arne Johansen, Tor, Nejjari, Fatiha, Puig, Vicenç
• Other Authors: Generalitat de Catalunya, Comisión Interministerial de Ciencia y Tecnología, CICYT (España), European Commission, Ministerio de Economía y Competitividad (España), Universidad Complutense de Madrid, Research Council of Norway, Icelandic Centre for Research
• Format: Conference Object
• Language: unknown
• Published: Institute of Electrical and Electronics Engineers 2016
• Subjects: Norway; Iceland
• Online Access: http://hdl.handle.net/10261/166286; https://doi.org/10.1109/SYSTOL.2016.7739829; https://doi.org/10.13039/501100002911; https://doi.org/10.13039/501100003329; https://doi.org/10.13039/501100000780; https://doi.org/10.13039/501100007273; https://doi.org/10.13039/501100002809; https://doi.org/10.13039/501100001840

Trabajo presentado a la 3rd Conference on Control and Fault Tolerant Systems, celebrada en Barcelona (España) del 7 al 9 de septiembre de 2016. This paper proposes a linear parameter varying proportional integral unknown input observer (PI-UIO) for the diagnosis of actuator faults and icing in unmanned aerial vehicles. It is shown that in presence of sensor noise, the proposed PI-UIO has the advantage of being affected by the noise, but not by its derivative. Another contribution of the paper is the introduction of an icing to wind/noise ratio, which allows performing an optimal tuning of some PI-UIO design parameters. Results obtained with a Zagi Flying Wing simulator are used to validate the effectiveness of the proposed approach. This work has been supported by a grant from Iceland, Liechtenstein and Norway through the EEA Financial Mechanism. Operated by Universidad Complutense de Madrid (ref. 006-ABEL-IM-2014B). The authors also acknowledge support by the Spanish Government (Ministerio de Economía y Competividad) and FEDER through the projects CICYT ECOCIS (ref. DPI2013-48243-C2-1-R) and CICYT HARCRICS (ref. DPI2014-58104-R), by AGAUR through the contract FI-DGR 2014 (ref. 2014FI_B1_00172), by the DGR of the Generalitat de Catalunya (ref. 2014/SGR/374) and by the Research Council of Norway through the Centres of Excellence funding scheme (ref. 223254-NTNU AMOS). D. Rotondo and A. Cristofaro are also supported by the ERCIM Alain Bensoussan Fellowship programme. Peer Reviewed