Multiple actuator fault diagnosis based on parity space for quadrotor system

In this paper, a new approach to fault detection and isolation for multiple simultaneous faults for a quad-rotor system is proposed. This method is based on parity space and high accuracy diagnosis of multiple faults can be achieved with the proposed method. Another advantage of this scheme is that in addition of its fault localization capability, types of faults could be identified as well. In this research only multiplicative actuator faults is considered and step, impulse and sinusoidal fault are studied. To achieve high accuracy, 10 residuals are generated and multiple combination of these residuals are studied for diagnosis purposes.  As the parity space approach is used only for linear systems, linear dynamics of quad-rotor in hovering mode is selected for simulations. Simulation results show the effectiveness and high accuracy of the proposed method in both fault detection and diagnosis and type identification of actuator faults.