Electronics Optics & Control, Volume. 31, Issue 2, 105(2024)

Abnormal Behavior Diagnosis of Tri-rotor UAV's Actuator Based on Two-Stage Kalman Filter

MA Wenlai1,2, WANG Shaobo2,3, LI Ruixian3, and HAO Wei2
Author Affiliations
  • 1[in Chinese]
  • 2[in Chinese]
  • 3[in Chinese]
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    References(12)

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    [3] [3] XIAN B,HAO W.Nonlinear robust faulttolerant control of the tilt trirotor UAV under rear servos stuck fault:theory and experiments[J].IEEE Transactions on Industrial Informatics,2019,15(4):2158-2166.

    [4] [4] SUN N,YANG T,FANG Y C,et al.Transportation control of double-pendulum cranes with a nonlinear quasi-PID scheme:design and experiments[J].IEEE Transactions on SystemsMan and Cybernetics:Systems,2019,49(7):1408-1418.

    [8] [8] HAO W,XIAN B,XIE T.Fault-tolerant position tracking control design for a tilt tri-rotor unmanned aerial vehicle[J].IEEE Transactions on Industrial Electronics,2022,69(1):604-612.

    [9] [9] KALI Y,RODAS J,GREGOR R,et al.Attitude tracking of a tri-rotor UAV based on robust sliding mode with time delay estimation[C]//International Conference on Unmanned Aircraft Systems (ICUAS).Dallas:IEEE,2018:346-351.

    [10] [10] MA Y,WANG Y X,CAI Z H,et al.A grey wolf optimization-based tilt tri-rotor UAV altitude control in transition mode[J].Transactions of Nanjing University of Aeronautics and Astronautics,2022,39(2):186-200.

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    [15] [15] XU Q M,LI X,LI B,et al.An interacting multiple model-based two-stage Kalman filter for vehicle positioning[J].Journal of Southeast University (English Edition),2017,33(2):177-181.

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    [17] [17] AMOOZGAR M H,CHAMSEDDINE A,ZHANG Y M.Experimental test of a two-stage Kalman filter for actuator fault detection and diagnosis of an unmanned quadrotor helicopter[J].Journal of Intelligent & Robotic Systems,2013,70:107-117.

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    MA Wenlai, WANG Shaobo, LI Ruixian, HAO Wei. Abnormal Behavior Diagnosis of Tri-rotor UAV's Actuator Based on Two-Stage Kalman Filter[J]. Electronics Optics & Control, 2024, 31(2): 105

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    Paper Information

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    Received: Jan. 15, 2023

    Accepted: --

    Published Online: Jul. 26, 2024

    The Author Email:

    DOI:10.3969/j.issn.1671-637x.2024.02.016

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