Abstract

Nowadays, because of advancements in technology and increasing use of machine for daily tasks, the optimal use of these devices has become an important issue. Quadrotor is one of tools that are widely used today in various fields of military, agriculture, meteorology, researches, transportation and so on. In this paper, our model is a quadrotor. One of the issues that threaten the optimal performance of today’s machines is fault. The fault is any undesired factor that disables the system’s performance. The fault can be applied to different parts of an industrial system, including system actuators, sensors or parameters. In this paper, we intend to investigate the sensor fault in a quadrotor model. So that, first the sensor fault is detected and then the fault tolerant control (FTC) algorithm is designed to modify the control signals and eliminate the effect of this fault. The method presented in this paper is an analytical method named analytical redundancy relation (ARR) that can easily detect the fault occurrence and design the fault tolerant control algorithm by using residual signals. Another advantage of this method is its robustness against disturbance and uncertainty in system parameters.

中文翻译：

---

四旋翼传感器的鲁棒分析故障检测与容错控制

摘要

如今，由于技术的进步和越来越多的机器用于日常任务，这些设备的最佳使用已成为一个重要的问题。Quadrotor是当今在军事，农业，气象，研究，运输等各个领域中广泛使用的工具之一。在本文中，我们的模型是四旋翼。威胁当今机器最佳性能的问题之一是故障。故障是导致系统性能下降的任何不良因素。故障可以应用于工业系统的不同部分，包括系统执行器，传感器或参数。在本文中，我们打算研究四旋翼模型中的传感器故障。以便，首先检测传感器故障，然后设计容错控制（FTC）算法来修改控制信号并消除该故障的影响。本文提出的方法是一种名为“分析冗余关系”（ARR）的分析方法，该方法可以轻松检测故障发生并使用残差信号设计容错控制算法。该方法的另一个优点是其对干扰和系统参数不确定性的鲁棒性。