Bank of Kalman filters for fault detection in quadrotor MAV
Fault Detection and Identification (FDI) is a subfield of control engineering which concerns with self-monitoring system, identifying and pinpointing the type and location of failures. This study proposes the application of Kalman Filter for fault detection in quad rotor type MAV. It begins with the...
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| Format: | Article |
| Language: | English |
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Asian Research Publishing Network (ARPN)
2016
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| Subjects: | |
| Online Access: | https://umpir.ump.edu.my/id/eprint/11350/ http://www.arpnjournals.org/jeas/research_papers/rp_2016/jeas_0516_4332.pdf |
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| author | Pebrianti, Dwi Rosdiyana, Samad Mahfuzah, Mustafa Nor Rul Hasma, Abdullah Bayuaji, Luhur |
| author_facet | Pebrianti, Dwi Rosdiyana, Samad Mahfuzah, Mustafa Nor Rul Hasma, Abdullah Bayuaji, Luhur |
| author_sort | Pebrianti, Dwi |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | Fault Detection and Identification (FDI) is a subfield of control engineering which concerns with self-monitoring system, identifying and pinpointing the type and location of failures. This study proposes the application of Kalman Filter for fault detection in quad rotor type MAV. It begins with the development of model of quad rotor, based on rigid body dynamic. The bank of Kalman filters consists of six filters that are associated with the total number of the degree of freedom of the quad rotor. The performance of the fault detection is conducted by simulation using Simulink, Matlab. The result shows that the developed bank of Kalman filters has good performance in detecting a sensor failure during a hovering condition. |
| first_indexed | 2025-11-15T01:46:21Z |
| format | Article |
| id | ump-11350 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T03:57:59Z |
| publishDate | 2016 |
| publisher | Asian Research Publishing Network (ARPN) |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-113502025-09-08T01:44:16Z https://umpir.ump.edu.my/id/eprint/11350/ Bank of Kalman filters for fault detection in quadrotor MAV Pebrianti, Dwi Rosdiyana, Samad Mahfuzah, Mustafa Nor Rul Hasma, Abdullah Bayuaji, Luhur QA76 Computer software TK Electrical engineering. Electronics Nuclear engineering Fault Detection and Identification (FDI) is a subfield of control engineering which concerns with self-monitoring system, identifying and pinpointing the type and location of failures. This study proposes the application of Kalman Filter for fault detection in quad rotor type MAV. It begins with the development of model of quad rotor, based on rigid body dynamic. The bank of Kalman filters consists of six filters that are associated with the total number of the degree of freedom of the quad rotor. The performance of the fault detection is conducted by simulation using Simulink, Matlab. The result shows that the developed bank of Kalman filters has good performance in detecting a sensor failure during a hovering condition. Asian Research Publishing Network (ARPN) 2016 Article PeerReviewed pdf en https://umpir.ump.edu.my/id/eprint/11350/1/Bank%20of%20Kalman%20Filters%20for%20Fault%20Detection%20in%20Quadrotor%20MAV.pdf Pebrianti, Dwi and Rosdiyana, Samad and Mahfuzah, Mustafa and Nor Rul Hasma, Abdullah and Bayuaji, Luhur (2016) Bank of Kalman filters for fault detection in quadrotor MAV. ARPN Journal of Engineering and Applied Sciences, 11 (10). pp. 6668- 6674. ISSN 1819-6608. (Unpublished) (Unpublished) http://www.arpnjournals.org/jeas/research_papers/rp_2016/jeas_0516_4332.pdf http://www.arpnjournals.org/jeas/research_papers/rp_2016/jeas_0516_4332.pdf http://www.arpnjournals.org/jeas/research_papers/rp_2016/jeas_0516_4332.pdf |
| spellingShingle | QA76 Computer software TK Electrical engineering. Electronics Nuclear engineering Pebrianti, Dwi Rosdiyana, Samad Mahfuzah, Mustafa Nor Rul Hasma, Abdullah Bayuaji, Luhur Bank of Kalman filters for fault detection in quadrotor MAV |
| title | Bank of Kalman filters for fault detection in quadrotor MAV |
| title_full | Bank of Kalman filters for fault detection in quadrotor MAV |
| title_fullStr | Bank of Kalman filters for fault detection in quadrotor MAV |
| title_full_unstemmed | Bank of Kalman filters for fault detection in quadrotor MAV |
| title_short | Bank of Kalman filters for fault detection in quadrotor MAV |
| title_sort | bank of kalman filters for fault detection in quadrotor mav |
| topic | QA76 Computer software TK Electrical engineering. Electronics Nuclear engineering |
| url | https://umpir.ump.edu.my/id/eprint/11350/ https://umpir.ump.edu.my/id/eprint/11350/ https://umpir.ump.edu.my/id/eprint/11350/ http://www.arpnjournals.org/jeas/research_papers/rp_2016/jeas_0516_4332.pdf |