| Citation: | WANG L N，LIU Z B，YUAN J B，et al. Adaptive fault diagnosis and estimation for quadrotor UAV[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（9）：2395-2405 （in Chinese） doi: 10.13700/j.bh.1001-5965.2021.0656
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A fault detection and estimation（FDA） method based on adaptive technology and observer is designed for common actuator faults of quadrotor unmanned aerial vehicle. In the stage of fault detection, the nonlinear diagnostic observer is designed, and the threshold value is derived by analytic function to ensure the robustness of the proposed detection method. Moreover, the designed observer and residual evaluation function are proved. In the stage of fault estimation, an adaptive law based on switching
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