Tri B. Susilo

Robust Fault Diagnosis for Quadrotor UAVs Using Adaptive Thau Observer

A robust Fault Diagnosis (FD) scheme for a real quadrotor Unmanned Aerial Vehicle (UAV) is proposed in this paper. Firstly, a novel Adaptive Thau observer (ATO) is developed to estimate the quadrotor system states and build a set of offset residuals to indicate actuators’ faults. Based on these residuals, some rules of Fault Diagnosis (FD) are designed to detect and isolate the faults as well as estimate the fault offset parameters. Secondly, a synthetic robust optimization scheme is presented to improve Fault Estimation (FE) accuracies, three key issues include modeling uncertainties, and magnitude order unbalances as well as noises are addressed. Finally, a typical fault of rotors is simulated and injected into one of four rotors of the quadrotor, and experiments for the FD scheme have been carried out. Unlike former research works on the FD schemes for quadrotors, our proposed FD scheme based on the ATO can not only detect and isolate the failed actuators, but also estimate the fault severities. Regardless of roughness of the real flying data, the FD results still have sufficient FE accuracies.

Engineering implementation on fault diagnosis for quadrotors based on nonlinear observer

This paper proposed an Engineering Implementation scheme on fault diagnosis for a real quadrotor Unmanned Aerial Vehicle (UAV) with actuators fault. A novel nonlinear observer is utilized to estimate the state of the system and to generate fault offset residuals for fault diagnosis. The Fault Diagnosis (FD) rules based on residuals are designed to isolate and estimate faults. Unlike former research work in FD for quadtrotors, the proposed FD is based on real flying data but not model simulation data and still have an acceptable FD accuracy. Experiments for the rotor fault have been carried out to show the performance and effectiveness of the proposed observer method and the results are discussed.

Simple Resonance Circuit to Improve Electrical Power Conversion in a Two-Sided Planar Permanent Magnet Linear Generator for Wave Energy Converters

Developing simple, economic, and efficient electrical power conversion systems for wave energy converters (WECs) is an on-going research topic. This paper considers a simple resonance circuit to maximise the ac–dc power conversion of a permanent magnet linear generator (PMLG). To implement this circuit, the PMLG model parameters were obtained. In this paper, we developed a procedure for designing a two-sided planar PMLG considering the corresponding physical parameters. For this method, we set the basic parameters and calculated the derived parameters for the PMLG. The resonance circuit was composed of a three-phase rectifier with a shunt connection of capacitors between its diodes. The value of the capacitors was calculated using the resonance principle at a specific dominant frequency obtained from the location of the WEC installation. We compared the performance of the proposed resonance circuit with that of an existing resonance circuit. The proposed circuit generates more power, requires fewer components, and presents fewer harmonics. In addition, a higher-quality damping force was obtained when using the PMLG connected to the proposed resonance circuit and a resistive load.