Extended bank of observers for fault detection in hexarotors

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

Congreso; Congreso Argentino de Sistemas Embebidos; 2022

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