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

Romeo Falcon, Hector Rios, Alejandro Dzul

Research output: Contribution to journalArticlepeer-review

10 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
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 1996-2012 IEEE.


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


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