Journal of Systems Engineering and Electronics ›› 2014, Vol. 25 ›› Issue (3): 483-488.doi: 10.1109/JSEE.2014.00055

• CONTROL THEORY AND APPLICATION • Previous Articles     Next Articles

H_ index based fault estimation for micro quad-rotor

Pu Yang1,*, Zhixia Yin2, and Bin Jiang1   

  1. 1. School of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
    2. Flight Test Center of Commercial Aircraft Corporation of China Limited, Shanghai 200232, China
  • Online:2014-07-01 Published:2010-01-03


Taking the attitude control system of micro quad-rotor as a research object, a design scheme of fault estimator based  on generalized Kalman-Yakubovic-Popov (GKYP) lemma is put forward to deal with the problem of estimating multiple actuators malfunctions with couplings. Using an H_ index and an appropriate algorithm, the goal of weakening the coupling can be achieved by limiting the fault frequency to a certain range, then different kinds of actuator faults can be estimated correctly. The simulations demonstrate the reliability and validity of the proposed method.