Sensor fault diagnosis and fault tolerant control using intelligent-output-estimator applied on quadrotor UAV

In this paper, Fault Diagnosis and Fault Tolerant Control algorithms are proposed to compensate for a bias type sensor fault applied on the quadrotor vehicle. A novel output estimator design called intelligent Output-Estimator (iOE) is introduced to detect and isolate the sensor fault. The estimation of the fault magnitude is done through a proposed structured algorithm that senses the maximum error deviation between the output estimation and the measured outputs. Then the fault compensation is achieved by regenerating the desired path. Real-flight results validated the proposed algorithms and showed the sensor fault accommodation process.