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2014 | 24 | 4 | 809-820

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Fault diagnosis in a networked control system under communication constraints: a quadrotor application

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This paper considers the problem of attitude sensor fault diagnosis in a quadrotor helicopter. The proposed approach is composed of two stages. The first one is the modelling of the system attitude dynamics taking into account the induced communication constraints. Then a robust fault detection and evaluation scheme is proposed using a post-filter designed under a particular design objective. This approach is compared with previous results based on the standard Kalman filter and gives better results for sensor fault diagnosis.








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  • CRAN CNRS UMR 7039, University of Lorraine, BP239, 54506 Vandoeuvre Cedex, France
  • CRAN CNRS UMR 7039, University of Lorraine, BP239, 54506 Vandoeuvre Cedex, France
  • CRAN CNRS UMR 7039, University of Lorraine, BP239, 54506 Vandoeuvre Cedex, France


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