@inproceedings{8915eba6171f4bdeb1302510bc845baa,
title = "Perseverance of Observability in Hovering Quadcopter Under Sensor Faults",
abstract = "Quadcopter is modeled as a cascade system by considering the rotor dynamics. The cascade systems of rotor plant and quadcopter plant are combined to form an augmented model of quadcopter. In hovering condition, the augmented model is represented as a linear model by taking linearization around operating states. The model is used to analyze the quadcopter observability and controllability. It is shown that the cascade systems are always controllable irrespective of the sensor faults. Perseverance of cascade system observability under certain sensor faults is shown. The rotor state observability under severe sensor faults is proved theoretically. Simulation is conducted to show the applicability of the method derived.",
keywords = "Cascade system, Controllability, Observability, Quadcopter, Sensor failure",
author = "Mohammad Khoiron and Abdullah Alkaff and {Rusdhianto Effendie}, {A. K.}",
note = "Publisher Copyright: {\textcopyright} 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Cyber Physical, Computer and Automation Systems, CPCAS 2019 ; Conference date: 13-11-2019 Through 15-11-2019",
year = "2021",
doi = "10.1007/978-981-33-4062-6_4",
language = "English",
isbn = "9789813340619",
series = "Advances in Intelligent Systems and Computing",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "39--48",
editor = "Endra Joelianto and Arjon Turnip and Augie Widyotriatmo",
booktitle = "Cyber Physical, Computer and Automation System - A Study of New Technologies",
address = "Germany",
}