Robust Model-Based Fault Detection and Isolation of a Six Degree of Freedom Helicopter

  • Lázaro F. Sansón Federal University of ABC
  • Victor A. de Campos Federal University of ABC
  • Alain S. Potts Federal University of ABC
Keywords: Fault detection and isolation, Robust residual generation, Disturbance decoupling, Unknown input observer, Eigenstructure assignment


Helicopters are high cost and safety systems with a strong control system designed to maintain the helicopter performance, stability, and flight qualities. However, there exist faults that negatively aect the helicopter desirable behaviour; therefore, fault detection and isolation must be done to early detect, isolate and eliminate these faults. Because of helicopters are strongly nonlinear systems, and are aected by uncertainties and by external disturbances as wind bursts, robust residuals generation is required to correctly detect and isolate faults in the helicopter actuators and sensors. This paper leads with the robust fault detection and isolation of a six-degree of freedom helicopter benchmark using the disturbance decoupling method and the unknown input observer robust residuals generator. A generalized observer scheme is employed for fault isolation purposes.