A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles †
Abstract
:1. Introduction
1.1. Glossary
- Fault: An unpermitted deviation from the normal, acceptable, usual, and standard behavior [4].
- Failure: A permanent interruption of a system’s ability to perform a require function under specified operating conditions [4].
- Malfunction: An intermittent irregularity in the fulfillment of a system’s desired function [4].
- Fault detection: detection of the occurrence of faults in the functional units of the process, which lead to undesired or intolerable behavior of the whole system.
- Fault isolation: localization (classification) of different faults.
- Hardware redundancy: consists in the reconstruction of the process components using the identical (redundant) hardware components. A fault in the process component is then detected if the output of the process component is different from the one of its redundancy. The main advantage of this scheme is its high reliability and the direct fault isolation.
- Analytical redundancy: makes use of the model of the process where process model is a quantitative or a qualitative description of the process dynamic and steady behavior. In this review the analytical redundancy is divided into two categories: model-based methods and knowledge-based.
- –
- Model-based methods are based on a mathematical model obtained through physical laws or system identification methods and fault diagnosis is achieved using residual that are formed by the difference between the measured signals and the signals generated by the mathematical model.
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- Knowledge-based methods are not dependent on the system model and require a significant amount of previous system performance data while the expert knowledge and expertise may be effectively used in the diagnostic procedure.
- Signal processing: uses signal measurements instead of a system model. The measured signals are considered to contain information about faults that exist in the system in a form of symptoms. From these signals, their characteristics are extracted and the fault diagnosis is made with appropriate signal processing, symptom analysis and prior knowledge of the symptoms of healthy systems [6].
- Passive FTC: A control system that does not rely on faulty information to control the system and is closely related to robust control where a fixed controller is designed to be robust against a predefined fault in the system and usually redundancy is integrated into the passive FTC scheme to make it resilient against faults [7].
- Active FTC: A control system that uses an FDI module to detect and isolate the fault while a supervisory controller decides how to modify the control structure and parameters to compensate for the occurred fault in the system [7].
1.2. Outline
2. Existing Survey Studies
3. Sensors Fault Diagnosis
4. Actuators Fault Diagnosis
5. Fault Tolerant Control Methods in UAVs
6. Anomaly Detection in UAVs
7. Discussion and Conclusions
- in a percentage of 51% the research works concern Rotary Wing vehicles, while the remaining 39% concern Fix-Wing and Misc. 10%;
- regarding the type of sensor, 39% concerns IMU; and, finally,
- the most commonly used methods are Model-Based with a percentage of 71%.
- in a percentage of 50% the research works concern Rotary Wing vehicles, while the 37% concern Fix-Wing, 7% VTOL and 7% Misc.;
- regarding the type of actuator, 67% concerns Rotor/Motor, 23% Elevator, Ailerons, Rudder and a percentage of 10% Misc. and finally;
- the most commonly used methods are Model-Based with a percentage of 87%.
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Databases | IEEE Xplore |
ScienceDirect | |
Web of Science | |
Semantic Scholar | |
ENGnetBASE | |
Google Scholar | |
Keywords | Fault Diagnosis and UAV |
Survey and Fault Diagnosis and UAV | |
Survey and UAV | |
Sensors and Fault Diagnosis and UAV | |
Actuators and Fault Diagnosis and UAV | |
Fault-Tolerant Control and UAV | |
Anomaly Detection and UAV | |
Search Date | January–August 2021 |
Reference | Brief Summary | Objective |
---|---|---|
Shraim et al. [3] | A Survey on Quadrotors | Sensors and Actuators Fault Diagnosis and Fault-Tolerant Control |
Gao et al. [10] | UAV Sensor Fault Diagnosis | Sensor Fault Diagnosis and Tolerant Control |
Qi et al. [11] | Fault Diagnosis and Fault-Tolerant Control Methods | Single-Rotor Aerial Vehicles |
Sadeghzadeh et al. [12] | A Review on Fault-Tolerant Control | Unmanned Aerial Vehicles (UAVs) |
Reference | Sensor Type | FDI Method | UAV Type |
---|---|---|---|
Hardware Redundancy | |||
Drak et al. [13] | Altitude Sensor | Hardware Redundancy | Quadrotor |
Shi et al. [14] | Gyroscope | Hardware Redundancy | Quadrotor |
Analytical Redundancy | |||
Model-Based | |||
Miao et al. [15] | Inertial Measurement Units (IMU) | Model-Based/Adaptive Nonlinear Proportional Integral (PI) Observer | Fix-Wing |
Zuo et al. [16] | Inertial Measurement Units (IMU) | Model-Based/Unknown Input Observer (UIO) | Quadrotor |
Saied et al. [17] | Position-Orientation and Motors | Model-Based | Hexarotor |
López-Estrada et al. [18] | Position-Orientation | Model-Based/Bank of Observers | Quadrotor |
Guo et al. [19] | Pitot Tube and Accelerometers | Model-Based/Kalman-Based | Quadrotor |
Deghat et al. [20] | Roll | Model-Based/Particle Filter, Maximum Likelihood | Delta-Wing |
Samy et al. [21] | Pitch Gyro, Angle of Attack, Normal Accelerometer | Model-Based/NN | Fix-Wing |
Younes et al. [22] | Position | Model-Based | Quadrotor |
Xu et al. [23] | X-axis and Y-axis Angular Velocity | Model-Based | Single-Rotor |
D’Amato et al. [24] | Inertial Measurement Units (IMU) | Model-Based | Multi-Rotor, Tricopter |
Avram et al. [25] | Inertial Measurement Units (IMU) | Model-Based/Sliding Mode Observer | Quadrotor |
Simlinger et al. [26] | Gyroscope | Model-Based/KF | Fix-Wind |
Sun et al. [27] | Wheel Velocity of ABS | Model-Based/Sliding Mode Observer | Fix-Wing |
Tan et al. [28] | Airborne Sensor (IMU, GPS, Attitude, Angle of Attack) | Model-Based/Kalman-Bussy | undefined UAV |
Mouhssine et al. [29] | Inertial Measurement Units (IMU) | Model-Based | Quadrotor |
Suarez et al. [30] | Position | Model-Based/EKF | Quadrotor |
D’Amato et al. [31] | Inertial Measurement Units (IMU) | Model-Based | Quadrotor |
Hansen et al. [32] | Airspeed | Model-Based | Fix-Wing |
Fravolini et al. [33] | Airspeed | Model-Based | Fix-Wing |
Vitanov et al. [34] | Inertial Navigation System (INS) | Model-Based/Unscented Filter (UHF) | Quadrotor |
Yoon et al. [35] | Inertial Measurement Units (IMU) | Model-Based/Parity Space and Signal-Based | Fix-Wing |
Knowledge-Based | |||
Guo et al. [36] | Gyroscope | Knowledge-Based | Quadrotor |
Fravolini et al. [37] | Airspeed, Angle of Attack, Sideslip angle | Knowledge-Based | Fix-Wing, Semi-Autonomous |
Crispoltoni et al. [38] | Inertial Measurement Units (IMU) | Knowledge-Based/Fuzzy Logic | Fix-Wing, Semi-Autonomous |
Sun et al. [39] | Navigation GPS/IMU | Knowledge-Based/Adaptive Neuron Fuzzy Inference System (ANFIS) | Quadrotor |
Chen et al. [40,41] | Gyroscope | Knowledge-Based | undefined UAV |
Olyaei et al. [42] | Angle of Attack, Pitch Angle, Pitch Angular Rate, Height | Knowledge-Based/Deep Learning | Fix-Wing |
Gao et al. [43] | Angular Rate | Knowledge-Based/Least Squares Support Vector Machine (LS-SVM), Principal Component Analysis (PCA) | Fix-Wing, Aerosonde |
Reference | Actuator Type | FDI Method | UAV Type |
---|---|---|---|
Hardware Redundancy | |||
Lieret et al. [44] | Rotor | Hardware Redundancy | Multirotor |
Analytical Redundancy | |||
Model-Based | |||
Xiao-Lu Ren [45] | Rotor | Model-Based/H∞ Observer | Quadrotor |
Zhang et al. [46] | Rotor | Model-Based/KF | Quadrotor |
Guzmán-Rabasa et al. [47] | Rotor | Model-Based/H∞ Observer | Quadrotor |
Lijia et al. [48] | Altitude System (Ailerons, Elevators, Rudder) | Model-Based/Robust Adaptive Observer & Radial Basis Function Neural Network (RBFNN) | Fixed-Wing |
Yin et al. [49] | Rotor | Model-Based/Interval Observer | VTOL |
Li et al. [50] | Rotor | Model-Based | Fix-Wing |
Ma et al. [51] | Biases in Position Sensors and Balance Sensors/External Inputs, Electric Regulator, Bias in Motor Torques | Model-Based/Observer-Based | Quadrotor |
Zhong et al. [52] | Motor & Altitude Sensor | Model-Based/Interacting Multiple Model (IMM) | Quadrotor |
Zhong et al. [53] | Propellers, Motors | Model-Based, Adaptive Augmented State KF | Quadrotor |
Hajiyev [54] | Elevator, Ailerons, Rudder | Model-Based | Fix-Wing |
Hasan et al. [55] | Motors | Model-Based/Nonlinear Thau Observer & Linearized KF | Multi-Rotor, Quadrotor |
Bauer et al. [56] | Elevons | Model-Based/Multiple Model Adaptive Estimation | Fixed-Wing |
Su et al. [57] | Rotor | Analytical Redundancy | Hexacopter |
Avram et al. [58] | Rotor | Model-Based/Adaptive Estimators | Quadrotor |
Ortiz-Torres et al. [59] | Propellers, Motors | Model-Based | Planar VTOL |
Cao et al. [60] | Rotor | Model-Based | Fix-Wing |
Rotondo et al. [61] | Rotor, Icing | Model-Based/PI-UIO | Fix-Wing |
Liu et al. [62] | Control Vanes (CVs) | Model-Based, UKFs | Ducted Fan |
Saied et al. [63] | Rotor | Model-Based/Sliding Mode Observer | Octorotor |
Kugler et al. [64] | Sensors and Actuators | Model-Based | Fix-Wing |
Yang et al. [65] | Aileron and Elevator | Model-Based/Unscented Kalman Filter (UKF) | Fix-Wing |
Zhaohui et al. [66] | Rotor | Model-Based/Nonlinear Observer | Quadrotor |
Cen et al. [67] | Rotor | Model-Based, Adaptive Thau Observer (ATO) | Quadrotor |
Ducard [68] | Ailerons, Elevators, Rudder | Model-Based | Fix-Wing |
Tousi et al. [69] | Rotor, Icing | Model-Based/Observer | Fix-Wing, Aerosonde |
Ma et al. [70] | Elevators | Model-Based/Dual Unscented Kalman Filter (DUKF) | Fix-Wing |
Knowledge-Based | |||
Fu et al. [71] | Rotor | Knowledge-Based/CNN-LSTM | Six-Rotor |
Younes et al. [72] | Rotor | Knowledge-Based/Output Estimator | Quadrotor |
Hansen et al. [73] | Airspeed & Control Surface Actuator | Knowledge-Based | undefined UAV |
Reference | Method Type | FTC Method | UAV Type |
---|---|---|---|
Passive FTC | |||
Jun et al. [74] | Passive | PID Controller Parameter Optimization | Quadrotor |
Wang et al. [75] | Passive | Nonlinear Control Allocation | Fixed-Wing |
Padilla et al. [76] | Passive | Fuzzy-Based | Micro AV (Quadrotor) |
Mallavalli et al. [77,78] | Passive | Nonsingular Fast Terminal Sliding Mode Controller (NFTSMC) & Under-actuated Sliding Mode Controller (USSMC) | Quadrotor |
Mallavalli et al. [79] | Passive | Nonsingular Fast Terminal Sliding Mode Controller (NFTSMC) | Quadrotor |
Hao et al. [80] | Passive | Adaptive Sliding Mode-Based Observer & Feedback Linearization-Based Controller | Tri-rotor |
Gong et al. [81] | Passive | Sliding Mode | Quadrotor |
Xian et al. [82] | Passive | Robust Integral of the Signum of the Error (RISE) | Tri-rotor |
Qu et al. [83] | Passive | Dynamic Surface Control | Fix-Wing |
Mallavalli et al. [84] | Passive | Sliding Mode | Quadrotor |
Khattab et al. [85] | Passive | Sliding Mode & Online Control Allocation | Spherical |
Sorensen et al. [86] | Passive | L1 Adaptive Backstepping Control & Control Allocation (CA) | Fix-Wing |
Yu et al. [87] | Passive | Recurrent Wavelet Fuzzy Neural Network (RWFNN) | Fix-Wing |
Yu et al. [88] | Passive | Fractional-Order Sliding-Mode Fault-Tolerant Neural Adaptive Control | Fix-Wing |
Tan et al. [89] | Passive | Adaptive Control | Quadrotor |
Zou et al. [90], | Passive | Hierarchical Framework | VTOL |
Qian et al. [91] | Passive | Adaptive Backstepping Controller | Fix-Wing |
Song et al. [92] | Passive | Indirect Neuroadaptive | Quadrotor |
Avram et al. [93] | Passive | Adaptive Control | Quadrotor |
Xue et al. [94] | Passive | Adaptive Control | Fix-Wing |
Vural et al. [95] | Passive | Dynamic Inversion (DI) & Robust Integral of the Signum of Error (RISE) | Fix-Wing |
Hybrid FTC | |||
Xing et al. [96] | Passive & Active | Sliding Mode Theory | Quadrotor |
Merheb et al. [97] | Passive & Active | Sliding Mode | Quadrotor |
Zhaohui et al. [98] | Passive & Active | Adaptive Control | Quadrotor |
Reference | Method Type | FTC Method | UAV Type |
---|---|---|---|
Active FTC | |||
Xulin et al. [99] | Active | Control Allocation | Quadrotor |
Sadeghzadeh et al. [100] | Active | Gain-Scheduled PID (GS-PID) Controller | Quadrotor |
Jun et al. [101] | Active | PID Controller Parameter Optimization & Support Vector Machine (SVM) | Quadrotor |
Sadeghzadeh et al. [102] | Active | Gain-Scheduled PID (GS-PID) Controller | Fix-Wing |
Zhong et al. [103] | Active | Adaptive Control | Quadrotor |
Cheng et al. [104] | Active | Sliding Mode | Fix-Wing |
Hasanshahi et al. [105] | Active | Adaptive Estimation | Quadrotor |
Hajiyev [106] | Active | Reconfigurable Active Controller | Fix-Wing |
Rudin et al. [107] | Active | DK-iteration | Fix-Wing |
Umm-e-Aimen et al. [108] | Active | Linear Quadratic Gaussian & Integral Reconfiguration Control | Fix-Wing, Aerosonde |
Vey et al. [109] | Active | Bank of Observers & Virtual Actuator | Hexrotor |
Abbaspour et al. [110] | Active | Nonlinear Dynamic Inversion Controller & Adaptive Fault Compensation Feedback Controller | Fix-Wing |
Nguyen et al. [111] | Active | Gain-Scheduling, Structured H-Infinity Synthesis | Hexacopter |
Nguyen et al. [112] | Active | Control Allocation, Gain-Scheduling, Structured H-Infinity Synthesis | Hexacopter |
F. Liu et al. [113] | Active | Neuroadaptive sliding Mode Control (SMC) | Quadrotor |
Younes et al. [22,72] | Active | intelligent Output-Estimator (iOE) | Quadrotor |
Hou et al. [114] | Active | Nonsingular Terminal Sliding Mode Control (NTSMC) | Quadrotor |
Guiatni et al. [115] | Active | Fuzzy Logic, Fuzzy PID Controller | Quadrotor |
Shi et al. [116] | Active | Radical Basis Function (RBF) Neural Network & Sliding Mode Control (SMC) | Quadrotor |
Chung et al. [117] | Active | Optimal Control | Quadrotor |
Ge et al. [118] | Active | Integral Sliding Mode | Fix-Wing |
Ergöçmen et al. [119] | Active | (PID)-State-Dependent Riccati Equation (SDRE) algorithm or PID-Linear Quadratic Tracking/Regulator (LQT/R) | Fix-Wing |
Yu et al. [120] | Active | Model Predictive Control (MPC) | Quadrotor |
Saied et al. [121] | Active | Sliding Mode | Octorotor |
Bateman et al. [122] | Active | State Feedback Controllers | Fix-Wing, Aerosonde |
Sharifi et al. [123] | Active | Sliding Mode | Quadrotor |
Nguyen et al. [124] | Active | Adaptive Control | Multirotor |
Cheng et al. [125] | Active | Non-Singular Fast Terminal Sliding Mode (NFTSM) | Fix-Wing |
Boche et al. [126] | Active | Reconfigurable Control | Fix-Wing |
Wang et al. [127] | Active | Adaptive Sliding Mode Control | Quadrotor |
Baldini et al. [128] | Active | Control Reconfiguration | Quadrotor |
Pedro et al. [129] | Active | PID Control, Control Allocation | Fix-Wing |
Reference | Subsystem Type | Anomaly Detection Technique/Method | UAV Type |
---|---|---|---|
Liang et al. [130] | Sensor Data | Classification-based/Shared Nearest Neighbor-Based Algorithms | Fix-Wing |
Chen et al. [131] | Wing Structure | Classification-based/Beacon Exception Analysis Method (BEAM) | Fix-Wing |
Pan et al. [132] | Sensor Data | Classification-based/Active Learning & S3VM | UAV |
Bronz et al. [133] | Actuator Failure | Classification-based/Support Vector Machine (SVM) | Fixed-Wing |
Varigonda et al. [134] | Flight parameters | Model-based | Quadrotor |
Titouna et al. [135] | Altitude System | Statistics-based & Classification-based | Fix-Wing |
Keipour et al. [136] | Actuator and Engine Faults | Statistics-based/Recursive Least Squares | Fix-Wing |
Khan et al. [9] | Sensors | Clustering-based & Classification-based & Statistics-based | Quadrotor |
Wang et al. [137] | Bias and Drift Anomaly on Flight Data | Statistics-based | UAV |
Wang et al. [138] | Sensor Data | Classification-based | UAV |
Ahn et al. [139] | Drone Failure of a Swarm | Clustering-based & Classification-based & Spectral-based | Quadrotor |
Pourpanah et al. [140] | Motors and Propellers | Classification-based | Quadrotor |
Lu et al. [141] | Motor | Classification-based | Quadrotor |
Chen et al. [142] | Vertical Speed | Classification-based | Fix-Wing |
Pan et al. [143] | Sensor Data | Classification-based & Spectral-based | UAV |
Freeman et al. [144] | Actuators | Model-Based | Fix-Wind |
Afridi et al. [145] | Altitude Control Unit | Classification-based | Fix-Wing |
Lin et al. [146] | Sensors | Statistics-based | UAV |
UAV Type | Sensor Type | Method Type |
---|---|---|
Rotary Wing: 51% | IMU: 39% | Model-Based: 71% |
Fix-Wing: 39% | Position: 16% | Knowledge-Based: 23% |
Misc: 10% | Gyroscope: 13% | Hardware Redundancy: 6% |
Misc.: 32% |
UAV Type | Actuator Type | Method Type |
---|---|---|
Rotary-Wing: 50% | Rotor/Motor: 67% | Model-Based: 87% |
Fix-Wing: 37% | Elevator, Ailerons, Rudder: 23% | Knowledge-Based: 10% |
VTOL: 7% | Misc.: 10% | Hardware-Based: 3% |
Misc.: 7% |
UAV Type | Method Type | FTC Method |
---|---|---|
Rotary-Wing: 60% | Active: 57% | Sliding Mode: 29% |
Fix-Wing: 34% | Passive: 38% | Adaptive Control: 16% |
Misc.: 6% | Hybrid-FTC: 5% | Misc.: 55% |
UAV Type | Subsystem Type | Method Type |
---|---|---|
Fix-Wing: 44% | Sensors: 44% | Classification-based: 55% |
Rotary-Wing: 28% | Actuators: 33% | Statistics-based: 22% |
Undifined UAV: 28% | Misc.: 22% | Model-based: 11% |
Spectral-based: 6% | ||
Clustering-based: 6% |
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Fourlas, G.K.; Karras, G.C. A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles. Machines 2021, 9, 197. https://doi.org/10.3390/machines9090197
Fourlas GK, Karras GC. A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles. Machines. 2021; 9(9):197. https://doi.org/10.3390/machines9090197
Chicago/Turabian StyleFourlas, George K., and George C. Karras. 2021. "A Survey on Fault Diagnosis and Fault-Tolerant Control Methods for Unmanned Aerial Vehicles" Machines 9, no. 9: 197. https://doi.org/10.3390/machines9090197