Joint Multi-Observer Based Fault Diagnosis for Quadrotor Helicopter

For the quadrotor aircraft in case of actuator failures is difficult to fault estimation problem,a relatively new joint multiple fault diagnosis observers design method is proposed based on the augmented fault estimation observer and the Luenberger fault detection observer.The design method can effectively estimate the single actuator fault,troubleshoot the problem that fault distribution matrix is not full column rank,and widened the application scope of the augmented fault estimation observer.Finally,the proposed algorithm is verified to be reliable and valid on Quanser 3-DOF Hover platform.