A Robust Fault Diagnosis for Quad-Rotors: A Sliding-Mode Observer Approach

Romeo Falcon, Hector Rios, Alejandro Dzul

Research output: Contribution to journalArticlepeer-review

6 Scopus citations


This article presents the design of a fault diagnosis strategy to deal with faults in multiple actuators in a quad-rotor under the influence of external disturbances. The faults are modeled as partial loss of effectiveness. The proposed fault diagnosis strategy is based on a finite-time sliding-mode observer that estimates the full state and provides a set of residuals using only the output information. Moreover, such a strategy is able to detect, isolate, and identify faults in multiple actuators despite the presence of external disturbances. Experimental results on the Quanser's QBall 2 platform show the performance of the proposed scheme.

Original languageEnglish
Pages (from-to)4487-4496
Number of pages10
JournalIEEE/ASME Transactions on Mechatronics
Issue number6
StatePublished - 1 Dec 2022

Bibliographical note

Funding Information:
This work was supported in part by the SEP-CONACYTANUIES- ECOS NORD under Grant 315597, in part by TECNM projects, in part by CONACYT under Grant 225291, in part by Catedras CONACYT CVU 270504 under Grant 922, and in part by CONACYT CVU 785635

Publisher Copyright:
© 1996-2012 IEEE.


  • Fault diagnosis (FD)
  • quad-rotor
  • sliding-mode observer (SMO)


Dive into the research topics of 'A Robust Fault Diagnosis for Quad-Rotors: A Sliding-Mode Observer Approach'. Together they form a unique fingerprint.

Cite this