基于自适应观测器的四旋翼无人飞行器多传感器故障诊断方法

为了实现对四旋翼无人飞行器多传感器故障检测与诊断，提出一种基于自适应观测器的多传感器故障诊断方法。首先，在建立飞行器动力学模型和传感器模型的基础上，将传感器故障视为虚拟执行器故障，构建四旋翼无人飞行器多传感器故障检测与诊断系统；其次，设计非线性观测器实现多故障检测和与隔离，基于Laypunov方法设计非线性自适应观测器实现对多故障偏差值的估计；最后，在传感器测量噪声存在的情况下，证明自适应律的稳定性和参数收敛性。实验结果表明，该方法能有效进行多传感器的故障检测与隔离，实现对多传感器故障偏差的同时估计与跟踪。

Multi-sensor fault diagnosis method for quad-rotor aircraft based on adaptive observer

In order to detect and diagnose multi-sensor faults of quad-rotor aircraft, a multi-sensor fault diagnosis method based on adaptive observer was proposed. Firstly, the sensor fault was regarded as the virtual actuator fault after the establishment of the aircraft dynamics model and sensor model, the multi-sensor fault detection and diagnosis system of quad-rotor aircraft was constructed. Secondly, a nonlinear fault observer was designed to realize multi-sensor fault detection and isolation, and the nonlinear adaptive observer was designed based on the Laypunov method to estimate the mutiple fault biases. Finally, the stability and parameter convergence of the adaptive laws were proved in the presence of sensor measurement noise. The experimental results show that the method can detect and isolate the faults of multiple sensors effectively, and realize the estimation and tracking of multiple sensors fault biases simultaneously.