Flight evaluation of simultaneous actuator/sensor fault reconstruction on a quadrotor minidrone

In view of the increase in number Unmanned Aerial Vehicles (UAVs) commercial and private sectors, it is imperative to make sure that such systems are safe, thus resilient faults failures. This paper considers numerical design practical implementation a linear parameter-varying (LPV) sliding mode observer for Fault Detection Diagnosis (FDD) quadrotor minidrone. Starting from nonlinear model minidrone, an LPV extracted design, synthesis procedure, using Linear Matrix Inequalities (LMI), detailed. Simulations FDD show good performance. The then implemented on Parrot® Rolling Spider minidrone series flight tests performed assess capabilities real time its on-board processing power. confirm performance obtained simulation, able provide reliable fault reconstruction systems.