关键词: 四旋翼无人机, 故障诊断, 多模型滤波

Abstract: Quadrotor Unmanned Air Vehicle（UAV） is a close-coupled and strong nonlinear object. It is very important to find out faults precisely and regulate the controller quickly for maintaining safety of the quadrotor UAV. In this paper, an online fault diagnosis method based on multiple model algorithm is presented for actuator fault detection of the quadrotor UAV. In this method, a fault model set is built according to different fault modes. The operating mode is online monitored by parallel operation of the model set. Simulation results show with this method the parameters of fault model can be estimated quickly and precisely for partial loss of effectiveness faults of singular actuator.

Key words: quadrotor Unmanned Air Vehicle（UAV）, fault diagnosis, multiple model filter