@inproceedings{035756b6c97c466cbe0923709138b7d1,
title = "Fault detection for partial loss of effectiveness faults of actuators in a quadrotor unmanned helicopter",
abstract = "This paper presents and implements a method to detect actuator faults (loss of effectiveness) for a quadrotor unmanned helicopter (known as the Qball-X4) altitude control. Fault model is presented with the first principle physical modeling method. Mathematical model is further adjusted based on the grey-light-box scheme to adjust the model parameters and reduce model uncertainty of the Qball-X4. The Kalman filter is used for the fault detection and state estimation purpose with integration of a LQ (linear quadratic) technique based controller for controlling the altitude of the Qball-X4. The benefit of using this method is that it is robust to the process and measurement noises. The method is implemented and experimentally tested in the platform of the Qball-X4 helicopter.",
keywords = "Fault detection, Flight test, Model adjustment, Modelling, State estimation, The Kalman fitter",
author = "Bin Yu and Youmin Zhang and Yingmin Yi and Yaohong Qu and Peng Lu",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 ; Conference date: 29-06-2014 Through 04-07-2014",
year = "2015",
month = mar,
day = "2",
doi = "10.1109/WCICA.2014.7053244",
language = "英语",
series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "March",
pages = "3204--3209",
booktitle = "Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014",
edition = "March",
}