**Lagrangian Model‐Based Fault Diagnosis in a PVTOL** Lagrangian Model-Based Fault Diagnosis in a PVTOL

César Martínez Torres, Luis Humberto Rodríguez Alfaro, Efrain Alcorta Garcia, Gerardo Romero Galvan and David Lara César Martínez Torres, Luis Humberto Rodríguez Alfaro, Efrain Alcorta Garcia, Gerardo Romero

Additional information is available at the end of the chapter Additional information is available at the end of the chapter

http://dx.doi.org/10.5772/66395

Galvan and David Lara

#### Abstract

A Lagrangian formalism is used to model a PVTOL in order to obtain an aircraft model. The Euler-Lagrange model of the PVTOL is used to develop an algorithm for fault diagnosis. Diagnosis implies the detection, isolation and identification of a fault. The considered approach is based on the knowledge of a system model as well as the model of the possible faults. The idea is to use non-linear decoupling approach to derivate a set of subsystems, each related to a specific fault or a set of faults. An observer-based residual generation is designed for each subsystem, this structure allows the fault detection and isolation stage, for fault identification a kind of approximated inversion algorithm to meet the different diagnostic levels. The results are obtained taking advantage of the structure given by the Euler-Lagrange modelling of the PVTOL as well as from recent results related to observer design and fault identification.

Keywords: fault diagnosis, Lagrangian systems, non-linear systems, observers, fault isolation
