Fault Detection of a Quadrotor Actuator Based on the Luenberger Estimation Method

Ahangarani Farahani, Alireza; Esmaeili Dashiri, Mahdi; Akhoundi, Fatemeh

doi:10.22034/IJRRS.2025.8.2.4

Fault Detection of a Quadrotor Actuator Based on the Luenberger Estimation Method

Document Type : Original Research Article

Authors

Alireza Ahangarani Farahani

Mahdi Esmaeili Dashiri

Fatemeh Akhoundi

Faculty of Aerospace Engineering, Malek Ashtar University of Technology, Tehran, Iran

10.22034/IJRRS.2025.8.2.4

Abstract

Quadrotors, as nonlinear and multivariable flight systems, are inherently susceptible to various actuator faults that may compromise their performance and stability. In this study, a method based on the Luenberger observer algorithm is proposed for the detection and identification of actuator faults in quadrotors. First, the system’s dynamic model is derived using standard approaches, and then linearized to facilitate the observer design. The Luenberger algorithm is developed based on the linearized model, and its accuracy is assessed through comparison with the nonlinear model. To evaluate the performance of the proposed algorithm, specific actuator faults are intentionally introduced into one of the system’s actuators. Simulation results show that the proposed method can effectively identify the induced faults with high accuracy and a rapid response. This capability can significantly contribute to the development of robust control systems for critical quadrotor applications.

Keywords

Fault Detection

Luenberger

Quadrotor

Quadrotor Fault Diagnosis

State Estimation

Subjects

Physics of Failure

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