ENG5031 Fault Detection, Isolation and Recovery - University of Glasgow

Assignment: Fault Detection and Isolation for Heading Motion of an UAV

Problem Specification
The following stages are expected to be performed in this assignment:

Question 1. Construct a continuous time simulation of the Lateral Dynamics of the UAV using zero initial conditions i.e. assuming UAV is flying level with initial heading of zero.

Question 2. (a) Simulate a 20°/-20° zig-zag manoeuvre where changes in heading can be observed.
(b) Simulate separate stepwise and driftwise faults in the heading channel during a 20°/-20° zig-zag manoeuvre.
(c) Employ suitable fault detection and isolation mechanisms to determine when and where these faults occur during the open-loop 20°/-20° zig-zag manoeuvre.

Question 3. (a) After completing steps 1-4, remove the faults from your simulation and design a closed-loop heading flight controller for this UAV.
(b) Simulate separate stepwise and driftwise faults in the heading channel during a 50° controlled heading manoeuvre.
(c) Employ suitable fault detection and isolation mechanisms to determine when and where these faults occur during the closed-loop 50° heading manoeuvre.
(d) Investigate the operation of the FDI systems you have developed (both open and closed loop) with simulated white noise of amplitude ±15 degrees included in the heading output.

Question 4. Develop suitable recovery procedures for both zig-zag and closed loop operations of this UAV.

Question 5. Write a report outlining how your overall FDIR addressed the specifications provided in 1 to 4 above. This will be used to assess your work for this assignment.

Attachment:- Fault Detection, Isolation and Recovery.rar