UIO Based Sensor Fault Diagnosis and Compensation for Quadrotor UAV

Abstract

The problem of IMU (Inertial Measurement Units) sensor fault diagnosis of the quadrotor UAV (Unmanned Aerial Vehicle) attitude control system is considered is this paper. Meanwhile, the non-linearity of the quadrotor model and the external disturbances are both considered. To get more accurate fault estimation results UIO (Unknown Input Observer) is selected, because it is performed by the interference decoupling method, can handle disturbances as unknown inputs, and has strong robustness to non-linearity. Besides, in order to eliminate sensor faults effect on the quadrotor UAV system, to ensure that the quadrotor UAV can still maintain normal operation after sensor fault occurs. A feedback compensation fault-tolerant controller is designed after accurate sensor fault estimation is obtained. Finally, MATLAB simulation results proved the effectiveness of the fault diagnosis scheme and the fault compensation method proposed in this paper.