Fault Estimation and Control for a Quad-Rotor MAV Using a Polynomial Observer. Part I: Fault Detection

  • Gerardo R. Flores-Colunga
  • H. Aguilar-Sierra
  • R. Lozano
  • S. Salazar
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 252)


This work addresses the problem of fault detection and diagnosis (FDD) for a quad-rotor mini aerial vehicle (MAV). Actuator faults are considered on this paper. The basic idea behind the proposed method is to estimate the faults signals using the extended state observers theory. To estimate the faults, a polynomial observer is presented by using the available measurements and know inputs of the system. In order to investigate the observability and diagnosability properties of the system, a differential algebra approach is proposed. Furthermore, an evaluation function depending on the system states is developed, in order to be used in a controller, which will compensate the failures. The effectiveness of the methodology is illustrated by means of numerical simulations and some experimental tests.


Quad-rotor polynomial observer diagnosability fault detection and diagnosis 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Gerardo R. Flores-Colunga
    • 1
  • H. Aguilar-Sierra
    • 2
  • R. Lozano
    • 3
  • S. Salazar
    • 2
  1. 1.Heudiasyc UMR 6599 LaboratoryUniversity of Technology of CompiègneCompiègneFrance
  2. 2.LAFMIA UMI 3175CinvestavMéxicoMéxico
  3. 3.Heudiasyc UMR 6599 LaboratoryUTC CNRS France and LAFMIA UMI 3175CinvestavMéxico

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