A Nonlinear Geometric Fault Detection and Isolation Approach for Almost-Lighter-Than-Air-Vehicles

In this paper, the problem of actuator fault detection and isolation (FDI) for almost-lighter-than-air-vehicles (ALTAVs) is investigated using a nonlinear geometric approach. Due to the particular dynamics of the ALTAV, six detection filters are designed for FDI of the four input channels of the ALTAV. Four of the detection filters are designed such that each input channel affects only one of the actuators and the other two detection filters are affected by the corresponding two input channels. Using an appropriate combination of detection filters, one may detect and isolate the faults in all the input channels associated with single as well as simultaneous multiple actuators faults. Numerous simulation results demonstrate and show the excellent performance of the designed nonlinear detection filters.