A Robust FDI Scheme with a Disturbance Decoupling Property

In this chapter, the actuator fault detection and isolation problem for a network of unmanned vehicles subject to large input disturbances is considered. One of the main challenges in the design of FDI algorithms is to distinguish the effects of disturbances from faults and develop a robust FDI scheme without compromising the detection of incipient faults in the vehicles. In unmanned vehicles such as UAV’s, this problem is more challenging due to the small size feature and higher sensitivity of these vehicles to disturbances such as wind gust. In this chapter, a robust FDI scheme is designed by developing a hybrid fault detection and isolation strategy for both linear and nonlinear systems that are subject to large environmental disturbances. The work presented in this chapter has partially appeared in [136, 138, 135].