Nonlinear FDI based on state derivatives, as provided by inertial measurement units

Julien Marzat (1, 2) , Hélène Piet-Lahanier (1) , Frédéric Damongeot (1) , Eric Walter (2)

1 ONERA - The French Aerospace Lab [Châtillon]
2 L2S - Laboratoire des signaux et systèmes

Various strategies based on dierential geometry or system inversion have been proposed to deal with fault detection and isolation (FDI) for nonlinear systems. Many of them require the computation of successive derivatives of inputs and outputs, which might be unrealistic in practical applications where measurements suer noise and disturbances. In this paper, we take advantage of the fact that, in domains such as aerospace or robotics, sensors allow the measurement of rst-order derivatives of state variables. This information, along with the redundancy provided by the control module can be used to generate residuals. Such a procedure is proposed and applied to a generic 2D aeronautical case study.

Domaines: Automatique / Robotique

Julien Marzat, Hélène Piet-Lahanier, Frédéric Damongeot, Eric Walter. Nonlinear FDI based on state derivatives, as provided by inertial measurement units. 8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010, Sep 2010, Bologne, Italy. pp.951--956. ⟨hal-00520799⟩