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Bank of Kalman Filters for Fault Detection in Quadrotor MAV

Pebrianti, Dwi and Rosdiyana, Samad and Mahfuzah, Mustafa and Nor Rul Hasma, Abdullah and Bayuaji, Luhur (2015) Bank of Kalman Filters for Fault Detection in Quadrotor MAV. In: Malaysian Technical Universities Conference On Engineering And Technology (MUCET 2015), 11-13 October 2015 , Johor Bahru. . (Unpublished)

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Abstract

Fault Detection and Identification (FDI) is a subfield of control engineering which concerns with self-monitoring system, identifying and pinpointing the type and location of failures. This study proposes the application of Kalman Filter for fault detection in quad rotor type MAV. It begins with the development of model of quad rotor, based on rigid body dynamic. The bank of Kalman filters consists of six filters that are associated with the total number of the degree of freedom of the quad rotor. The performance of the fault detection is conducted by simulation using Simulink, Matlab. The result shows that the developed bank of Kalman filters has good performance in detecting a sensor failure during a hovering condition

Item Type: Conference or Workshop Item (Speech)
Uncontrolled Keywords: Fault Detection and Isolation, Kalman Filter, quad rotor, Micro Aerial Vehicle (MAV)
Subjects: Q Science > QA Mathematics > QA76 Computer software
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Computer System And Software Engineering
Faculty of Electrical & Electronic Engineering
Depositing User: Mrs. Neng Sury Sulaiman
Date Deposited: 23 Nov 2015 06:35
Last Modified: 07 Mar 2018 02:24
URI: http://umpir.ump.edu.my/id/eprint/11350
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