1.

Introduction
Unmanned aerial vehicle has many applications regarding to our
daily life, due to its vast applications a lot of research has been done in
this area but still there is a large capacity to improve the system
reliability and accuracy. Reliability has a great impact on the system
dynamics. According to the statistical survey it is found that, during the
flight 25% of misbehavior occurs in flight control, which is a big issue
[1] these kinds of failures can highly impact the system reliability. The
aim of this research is to improve the reliability of this system,
therefore I want to design such a system which will be intelligent
enough, having the tendency of taking the right decision at the right
time during the flight control system (fcs). This will improve the
reliability to a great extent. We have to learn fault diagnosis (FDD) fault
detection (FD) and fault tolerant control (FTC). FTC has the tendency to
resist against the failure of the system up to some extent keeping the
system stable [2] and adjust its self-according to the situation. FTC is
categorized into two methods active and passive. Passive method
resembles to robust control, in which it can beard fault up to some
extent. The main disadvantage of this method is that it ignores fault of
lower range which degrade the performance of the system. While on
the other hand Active method reacts immediately when fault occurs to
keep the system stable and also the performance at higher level. For
this purpose we need FDD which gives information about the fault.
Whenever there is a prediction of fault the controller is design in such a
way that it can detect, isolate and diagnosed the fault. For UN manned
aerial vehicle whenever failure occurs in the surface FDD and FTC has
been applied to the system.
A controller is design when fault is detected and diagnose, whenever
there is a problem regarding to FDD the exact location of actuator
cannot be measured so in this scenario we will approximate [3] the
position of actuator. If fault occurs in the system, it should be locate
isolate and diagnose which is our main goal and it can be achieved
when we design fault diagnose much more sensitive to the fault [4].
More generally UAV poised of: (i) instruments for different purposes
including gyroscopes (degree of rotation), (ii) actuators (providing
control signal) and accelerometer in shape of sensors (with the help of
sensors we obtained the measurements due to which a control input
generated).(iii) air craft assembly.
Sensor fault includes performance degradation, drift, measurement
error, bias and freezing [5].
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Fault diagnose is a problem in both sensor and actuator because

uncertainty occurs in the system and in this situation we cannot
mathematically model actual system in the presence of noise and also
we un able to get the exact measurements [6]. A major fault comes in
the UAVs is the icing which is known as structural fault [7]. When icing
fault occurs in the UAVs it causes the system performance and also we
have controllability issue. The dangerous icing fault which occur on the
wings, different kinds of solutions are proposed but they are expensive
like one of the solution is deicing heater due to which observer based
fault detection method is proposed which not only minimize the error
but also increased the rate of accuracy.

2. Literature Review

Many of the researchers done a meaningful work in this field

regarding to fault diagnose, fault tolerant, fault isolation, Fault
detection, fault estimation etc.
[8] Marcello R. Napolitano and Younghwan these two researchers
worked on fault estimation which was based on neural network. The
main theme of their research was to identify the fault in sensors as well
as in actuators and to know that how much system is capable to
tolerate these faults [8].
[9] Guillaume Ducard and Hans P. Geering their research mainly
concern about the filters they used for fault in different situation and
also for limitation of the filters which is a big concern of their research.
The two types of fault detection and isolation has the tendency to
tolerate two faults and both occur at the same time in actuator, Main
advantage of their research was to simplify computational work [9].

2.1.1Types of faults
When fault occur in a system it should be diagnose as soon as possible
because it de stabilize the system and hence in a result process can be
shut down.
There are different types of fault namely actuator fault, component fault,
and sensor fault.

Actuator faults
[10]Actuator is responsible to control the process or system. A control
signal and energy resources are needed at the input for proper actuation.
Whenever fault occurs in actuator it required more power for actuation
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and also process is no more controllable. Examples are solenoid valves,

stuck up of electric motors, etc. [10]

Figure 2.1: the above figure shows different kinds of fault normally occurs in actuators.
Dots represent desired response of actuator and compact line shows the definite
response of actuator. (a)Fluctuating round trim
(b) lock in place (c) hard-over failure
and (d) loss of efficiency.

Component faults
This kind of fault occurs in components. Component fault changes
classification of system, results a change in overall dynamics of the
system. Most probable reason to occur this kind of fault is usually damage
to components during its normal use. Examples are resistor, capacitor,
transistor etc. when this kind of fault occurs it degrades performance of
system and hence de-stabilize, so therefore early detection of these faults
is particularly important.

Sensor faults
These kinds of fault mostly occur in the system where the output is
feedback to the input. Whenever this fault occurs it leads the point of
control too much far away from the original ones due to which it directly
affect the performance of a system.
Faults produced gradually with time and going to increase with passage of
time is called incipient fault.
Fault which is produce directly in a
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system with a high intensity is known as abrupt fault. These kinds of

faults are dangerous to the system due to which it can damage the
equipments. But it has a merit that these faults can be easily detected.
Faults which occur time to time are called intermittent faults [1].

2.2 Classification of fault detection schemes

When machines were invented revolution comes in the industries, fault can
be detected be detected autonomously without involvement of human. One
of procedure use for fault detection was limit checking, by setting limit to
measurements of different variables. If measurements cross the limit it
indicates that fault occur in the system but this was not a classical way to
detect fault in the system because if we select limit too close some of the
variation and disturbance cause the system to be faulty. And if selected too
wide, we cannot detect small magnitude fault. Therefore one cannot adopt
this method more advance method must be used. These methods are i)
Plausibility test, ii) Signal-based methods and iii) Model-based methods.

2.2.1Plausibility test
The idea of plausibility test was based on comparing the output with the
estimated measurements under normal operation of measurements which
can be done with the help of logic gates. The disadvantage of this test that
fault cannot be detect easily and one cannot detect fault in complex
systems.

2.2.2Signal-based fault detection

In this approach we get information about fault from measured signals, which
is magnitude of time, correlation, variance etc. limit checking approach has
been used for the measurements of the magnitude , if the magnitude exceed
from limit it indicates occurrence of fault, i.e.
Ymin y (t) Ymax fault-free
Y (t) < Ymin or y (t) > Ymax faulty
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In limit checking if limit is cross it will be indication of fault, i.e.

min (t) max fault-free
(t) < min or (t) >max faulty
The demerit of this system is that fault can only be detected when it crosses
the limit. More ever with transient response of the system we cannot apply
this approach.

2.2.3Model-based fault detection

The main theme of model based fault detection is to compare output of
system with fault free process which is taken by same input. It is most power
full technique then the others because it contains more information about
fault. Two main steps involve in this process; residual generation and residual
evaluation. Residual generation produce a signal which is known as residual
signal, the main idea of residual signal is to compare the output of the
system with the estimated output and residual evaluation is the inspection of
residual signal under the presence of fault.

3. problem statement

The main problem is to diagnose the fault of unmanned aerial vehicle.