DefinePK

Abstract

The control of complex air vehicles like, Twin Rotor Multiple Input Multiple Output System (TRMS), is difficult due to significant cross-coupling between the rotors and gyroscopic disturbance. Gyroscopic disturbance and sudden sensor faults in the DC motor of the rotors affects the TRMS reliability and safety as well. Immediate fault indication is indispensable in such safety critical vehicles. In this paper, an output observer-based technique is synthesized to address the sensor fault detection (FD) problem in TRMS subjected to deterministic disturbance and norm-bounded model uncertainty in the system matrix. A robust observer is proposed using  norm minimization approach to generate the residual for fault detection. Additionally, a state feedback controller is designed to achieve the desired transient response requirement of the system. The current study is different from the previous work in that it considers deterministic disturbance and norm-bounded model uncertainty for an observer-based residual generator design for fault detection along with controller. Simulation studies confirm the effectiveness of the proposed observer in terms of successful sensor fault detection.