Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed |
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| Authors: | YM Zhang A Chamseddine CA Rabbath BW Gordon C-Y Su S Rakheja C Fulford J Apkarian P Gosselin |
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| Institution: | 1. Concordia University, Montreal, Quebec, Canada H3G 1M8;2. Quanser Inc., 119 Spy Court, Markham, Ontario, Canada L3R 5H6;3. Numérica Technologies Inc., 3420 Lacoste, Quebec, Canada G2E 4P8 |
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| Abstract: | As the first part, this paper presents an overview on the existing works on fault detection and diagnosis (FDD) and fault-tolerant control (FTC) for unmanned rotorcraft systems. Considered faults include actuator and sensor faults for single and multi-rotor systems. As the second part, several FDD and FTC techniques developed recently at the Networked Autonomous Vehicles Lab of Concordia University are detailed along with experimental application to a unique and newly developed quadrotor helicopter testbed. |
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