Observer-based actuator fault detection for quadrotor UAV with experimental validation

This paper develops an observer-based actuator fault detection method for quadrotors with fault sensitivity. Firstly, a qLPV model of quadrotor UAV is established. Then an actuator fault detection method is designed. The pole assignment theory guarantees the transient response of the augmented system, and integrated H_/H
∞
performance theory is applied to enhance the sensitivity of residual signals to faults. Finally, online experiments based on the QDrone quadrotor platform are performed to verify the effectiveness of the proposed method.