REVISTA DYNA NEW TECHNOLOGIES

Key words:

Vehículo aéreo no tripulado, cuadrirrotor, PVTOL, detección de fallas, diagnóstico de fallas, Unmanned aerial vehicle, quadrotor, PVTOL, fault detection, fault diagnosis.

Article type:

ARTICULO DE INVESTIGACION / RESEARCH ARTICLE

Section:

RESEARCH ARTICLES

ABSTRACT:
In this work the design of an emergency landing system for a quadrotor unmanned aerial vehicle (UAV) in the event of rotor or propeller failures is proposed. The control of the quadrotor is carried out by means of a linear quadratic regulator (LQR) controller, which is coupled to a fault detection and diagnosis system based on state observers. Once the system detects and locates a fault, the vehicle changes from a four-rotor to a two-rotor configuration, in order to land the vehicle safely. To demonstrate the effectiveness of the method, different numerical simulations are presented i.e. fault-free, partial fault and total fault scenarios. In all cases, both the control and the fault detection system show adequate performance.

Key Words: Unmanned aerial vehicle, quadrotor, PVTOL, fault detection, fault diagnosis.