Robust Adaptive Kalman Filter against Sensor/Actuator Faults
WSEAS Transactions on Systems and Control, vol.21, pp.157-169, 2026 (Scopus)
- Publication Type: Article / Article
- Volume: 21
- Publication Date: 2026
- Doi Number: 10.37394/23203.2026.21.16
- Journal Name: WSEAS Transactions on Systems and Control
- Journal Indexes: Scopus, INSPEC
- Page Numbers: pp.157-169
- Keywords: actuator fault, normalized innovation, Q-adaptation, R-adaptation, Robust Adaptive Kalman Filter, sensor fault, Unmanned Aerial Vehicle
- Open Archive Collection: AVESIS Open Access Collection
- Istanbul Gelisim University Affiliated: Yes
Abstract
-A new fault-tolerant estimating approach for unmanned aerial vehicle (UAV) dynamics in the presence of sensor/actuator faults is proposed, which is both adaptive and robust. This study discusses how to choose between adaptive and robust approaches when a sensor or actuator fails. We provide an adaptive method with Q-adaptation as well as a robust method with R-adaptation. The Kalman filter detects faults using the chi-square distribution of the normalized quadratic innovation function (NQI). After detecting a fault, it is recommended to run both R-adaptive and Q-adaptive Kalman filters concurrently and compare their estimation capabilities to distinguish between sensor and actuator faults. As a performance criterion, the mean-squared residuals between estimation and extrapolation values of robust and adaptive filters are proposed.