Fault Detection and Diagnosis of the Homogenous Quadcopter Team in the Presence of Wind Disturbance

In order to ensure the normal operation and increase the safety, reliability and mission dependability of quadcopters, the fault detection and diagnosis is very important. In this paper, the problem of fault detection and diagnosis is investigated for the homogenous quadcopter team subject to non-negligible wind disturbance. However, it is difficult to accurately diagnose the fault, because it is coupled with the wind disturbance, whose effect is difficult to eliminate. For this problem, first, the observability is analyzed for the sum effect of the fault and the wind disturbance of one quadcopter, for the fault of one quadcopter, and for the fault of the homogenous quadcopter team, respectively. By analysis, the fault in the situation of the homogenous quadcopter team is observable under some reasonable assumptions. Based on this, a procedure is further proposed to detect and diagnose the fault for the homogenous quadcopter team, eliminating the effect of the wind disturbance. Finally, the simulation demonstrates the effectiveness of the proposed procedure.