Abstract
The continuous evolution of modern technology has led to the creation of increasingly complex and advanced systems. This has been also reflected in the technology of Unmanned Aerial Vehicles (UAVs), where the growing demand for more reliable performance necessitates the development of sophisticated techniques that provide fault diagnosis and fault tolerance in a timely and accurate manner. Typically, a UAV consists of three types of subsystems: actuators, main structure and sensors. Therefore, a fault-monitoring system must be specifically designed to supervise and debug each of these subsystems, so that any faults can be addressed before they lead to disastrous consequences. In this survey article, we provide a detailed overview of recent advances and studies regarding fault diagnosis, Fault-Tolerant Control (FTC) and anomaly detection for UAVs. Concerning fault diagnosis, our interest is mainly focused on sensors and actuators, as these subsystems are mostly prone to faults, while their healthy operation usually ensures the smooth and reliable performance of the aerial vehicle.
Highlights
From their first appearance until today, the utilization of Unmanned Aerial Vehicles (UAVs) has exhibited a rapid increase
In [15], the authors suggest a fault diagnosis algorithm based on adaptive nonlinear proportional-integral (PI) observer for continuous time system applied to a fixed-wing unmanned aerial vehicle
In addition to the classic methodologies for fault diagnosis in vehicle sensors and actuators mentioned in the previous sections, it is crucial for the system to be able to detect any malfunctions, in a timely manner, that could cause deviation from the vehicle’s acceptable and expected flight
Summary
From their first appearance until today, the utilization of Unmanned Aerial Vehicles (UAVs) has exhibited a rapid increase Their use ranges from military applications to entertainment, photography, product transportation, inspection and surveillance, agricultural applications, wireless communication networks and more. This is mainly due to their mechanical construction which makes them flexible and efficient as well as their reasonable cost They are mainly distinguished for operating in various modes such as flying at different speeds, hovering over a target, maintaining a stable position, performing complex maneuvers, avoiding obstacles, etc. They are characterized by limited payload capabilities and low endurance
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