Perseverance of Observability in Hovering Quadcopter Under Sensor Faults

Mohammad Khoiron*, Abdullah Alkaff, A. K. Rusdhianto Effendie

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


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.

Original languageEnglish
Title of host publicationCyber Physical, Computer and Automation System - A Study of New Technologies
EditorsEndra Joelianto, Arjon Turnip, Augie Widyotriatmo
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages10
ISBN (Print)9789813340619
Publication statusPublished - 2021
EventInternational Conference on Cyber Physical, Computer and Automation Systems, CPCAS 2019 - Bali, Indonesia
Duration: 13 Nov 201915 Nov 2019

Publication series

NameAdvances in Intelligent Systems and Computing
Volume1291 AISC
ISSN (Print)2194-5357
ISSN (Electronic)2194-5365


ConferenceInternational Conference on Cyber Physical, Computer and Automation Systems, CPCAS 2019


  • Cascade system
  • Controllability
  • Observability
  • Quadcopter
  • Sensor failure


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