Extended bank of observers for fault detection in hexarotors

CLAUDIO POSE; GARBEROGLIO, LEONARDO; EZEQUIEL PECKER-MARCOSIG; IGNACIO MAS; JUAN GIRIBET

Congreso; Congreso Argentino de Sistemas Embebidos 2022; 2022

A fault detection system for actuator faults based on a bank of observers is proposed for a multi-rotor aerial vehicle. Contrary to classical bank of observers, the presented solution considers a failure model that takes into account the speed decay after failure instead of assuming that the motor stops instantly. Experimental validation shows that the inclusion of this model allows for a faster failure detection.