FDD and FTC for ramp-type actuator fault using intelligent-output-estimator

In this paper, Fault Detection and Diagnosis (FDD) and Active Fault Tolerant Control (AFTC) algorithms are proposed to compensate for a ramp-type Loss-of-Effectiveness (LoE) actuator fault applied on the quadrotor system. Based on the Model-Free concept, an output estimator design called intelligent Output-Estimator (iOE) is presented to estimate the outputs of the system and then used to improve the estimation of the actuator faults. Then the estimation is used to detect and isolate the faulty actuator by generating fault symptoms. Finally, the estimation value is integrated into the control law to compensate for the variable actuator fault. Real-flight results validated the proposed algorithm and showed the actuator fault accommodation process.