Abstract
This paper proposes a fuzzy health degree-based dynamic performance evaluation algorithm of quadrotors in the presence of actuator and sensor faults. First, an augmented stochastic hybrid system (SHS) model for quadrotors is established. In the SHS model, the discrete modes are assigned with sensor normal mode and other senor anomalous modes. In each mode, a process equation and an observation equation are provided to describe the continuous behavior of quadrotors, where the process equation is augmented to model actuator fault by introducing effectiveness coefficients, and different observation equations are built to model different sensor faults. Then, a modified interacting multiple model algorithm is used to estimate the hybrid state of the SHS model, and a concept of fuzzy health degree is introduced to measure dynamic performance of the quadrotor based on the state estimation result. Finally, a simulation of a quadrotor suffering from successive actuator and sensor faults is presented to validate the effectiveness of the proposed algorithm.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
