Model-Based Fail-Safe Module for Autonomous Multirotor UAVs with Parachute Systems

Agus Ismail Hasan*, Vincent Klyverts Tofterup, Kjeld Jensen

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


This paper presents development of model-based fail-safe modules for autonomous multirotor Unmanned Aerial Vehicles (UAVs) with safety parachute systems. The module is based on the adaptive eXogenous Kalman filter for actuator fault diagnosis. We assume all states can be measured, such that the primary goal of the filter is not the state estimation from the measurements, but the accurate reconstruction of the multirotor dynamics in real-time. Numerical simulations show the proposed diagnostic filter can be used to estimate the magnitude of the actuator faults accurately. Furthermore, based on simulated and real data recorded during a hexacopter UAV flight when its actuators experiencing complete failure,
the experiment results demonstrate the effectiveness of the approach.
Original languageEnglish
Title of host publicationProceedings of the International Conference on Unmanned Aircraft Systems, ICUAS
Publication date15. Aug 2019
ISBN (Print)978-1-7281-0334-1
ISBN (Electronic)978-1-7281-0333-4, 978-1-7281-0332-7
Publication statusPublished - 15. Aug 2019
Event2019 International Conference on Unmanned Aircraft Systems - Atlanta Marriott Buckhead Hotel & Conference Center, Atlanta, United States
Duration: 11. Jun 201914. Jun 2019
Conference number: 229


Conference2019 International Conference on Unmanned Aircraft Systems
LocationAtlanta Marriott Buckhead Hotel & Conference Center
Country/TerritoryUnited States
Internet address


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