Actuator Fault Detection and Isolation for Helicopter Unmanned Arial Vehicle in the Present of Disturbance

Abstract

This paper suggests a model-based fault detection and isolation for helicopter unmanned aerial vehicle in hover mode. Unknown input observer is designed to detect bias and stuck faults in actuators of helicopter unmanned aerial vehicle and also isolate roll and pitch actuator faults from yaw actuator fault. Simulation results show effectiveness of the proposed method for detection and isolation of actuator faults and decoupling them in the present of disturbance.