Interval Observer-Based Fault Detection and Isolation for Quadrotor UAV With Cable-Suspended Load
针对带缆绳悬挂负载的四旋翼无人机，提出一种基于区间观测器的执行器故障检测与隔离方案，通过构建状态边界并引入更新策略应对风扰，实验验证了有效性。
This article proposes an actuator fault detection and isolation (FDI) scheme for quadrotor unmanned aerial vehicle (UAV) with a cable-suspended load. First, a linear parameter-varying (LPV) model of quadrotor UAV is established, in which the effects of cable-suspended load are considered. Then, a state boundary-based FDI design is systemically presented. A bank of interval observers is constructed to build the preliminary upper and lower boundaries of system states under healthy conditions, where <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">$H_{-}/H_{\infty }$ </tex-math></inline-formula> performance is applied to enhance its robustness against disturbances and sensitivity to faults. Furthermore, a novel updating strategy is further proposed to periodically adjust state boundaries to cope with the effects of varying wind disturbances. Finally, based on the QDrone platform, experimental tests under random faults are carried out to verify the effectiveness and performance of the proposed scheme.