计算机工程与应用2016，Vol.52Issue(21)：252-257,6.DOI:10.3778/j.issn.1002-8331.1603-0171
四旋翼无人机的多模型故障诊断
Multiple model fault diagnosis method for quadrotor UAV
摘要
Abstract
Quadrotor Unmanned Air Vehicle(UAV)is a close-coupled and strong nonlinear object. It is very important to find out faults precisely and regulate the controller quickly for maintaining safety of the quadrotor UAV. In this paper, an online fault diagnosis method based on multiple model algorithm is presented for actuator fault detection of the quadrotor UAV. In this method, a fault model set is built according to different fault modes. The operating mode is online monitored by parallel operation of the model set. Simulation results show with this method the parameters of fault model can be esti-mated quickly and precisely for partial loss of effectiveness faults of singular actuator.关键词
四旋翼无人机/故障诊断/多模型滤波Key words
quadrotor Unmanned Air Vehicle(UAV)/fault diagnosis/multiple model filter分类
信息技术与安全科学引用本文复制引用
徐雪松..四旋翼无人机的多模型故障诊断[J].计算机工程与应用,2016,52(21):252-257,6.基金项目
国家自然科学基金（No.61165005）；江西省教育厅科技项目（No.GJJ150542）。 （）
