Design of Redundancy Relations for Unmanned Aerial Vehicle FDI

This paper presents a methodology for designing structured residuals for Fault Detection and Isolation (FDI) on sensors and actuators of Unmanned Aerial Vehicles (UAVs). An algorithm that manipulates the binary structural matrix that characterizes the non-linear model of the UAV is introduced to compute a large subset of input-output (Analytic Redundancy Relations AARs). A Symbolic computation software is used to automate the analytic computation process of the ARRs. The selection of the “best” subset of ARRs suitable for real-time implementation is carried out introducing a cost function that measures the quality of each ARR quantifying some important implementation aspects as the computational complexity and the presence of high order derivatives. An algorithm is also introduced to select a minimum number of ARRs that allows the isolation of a maximum number of faults while minimizing their cost. The methodology has been applied to the design of a residuals generator for a non-linear mathematical model of a remotely controlled semi-scale YF-22 research aircraft.

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