Fault Diagnosis for Distributed UAVs Formation Based on Unknown Input Observer

The paper is concerned with UAVs formation system in case of single UAV actuator fault. For distributed UAVs formation, a new fault diagnosis method based on the distributed unknown input observer is proposed. According to the hierarchical concepts of distributed control system, the controllers for single UAV and multi-UAV formations are designed, respectively. When the single UAV actuator fault occurs, an effective fault detection method for distributed systems with unknown input observers is presented. Then, augmented system is proposed to estimate fault. In Simulation, using FDC toolbox to build the model of UAV. According to known model parameters, numerical simulation can be built to diagnose the actuator fault. Simulation results show the efficiency of the proposed method.