UIO based quadrotor FDI using kinematic model

This thesis addresses the fault diagnosis problem of sensors of a quadcopter system based on GNSS/IMU. The model considered is a rigid body with 6DoF. Considering its linearized kinematic model, the proposed FDI scheme is based on a generalized bank of observers (GBO) designed with the UIO theory. The fault scenario is composed by multiple but not concurrent faults. The designed scheme is tested using detectability and isolability analysis, identifying the weaknesses of the FDI scheme and investigating appropriate solutions for the fault diagnosis purposes. Afterwards, the scheme was reconfigured by applying the proposed solutions and analyzing that all the requirements in terms of isolability and detectability were met.