Abstract
This paper deals with the problem of fault detection and isolation in a network of unmanned aerial vehicles when there exist imperfect communication channels among the vehicles. A discrete-time communication link with stochastic packet dropping efiect is considered based on Gilbert-Elliott model which is known as packet erasure channel model and the network of unmanned vehicles is modeled as a discrete-time Markovian Jump System (MJS). A MJS fault detection fllter design is proposed based on the extension of the fundamental problem of residual generation concept. Our proposed FDI algorithm is then applied to actuator fault detection and isolation in a network of quad-rotor helicopters with imperfect communication channels among them. Simulation results demonstrate and validate the performance and capabilities of our proposed FDI algorithm.
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