This paper studies actuator fault detection and estimation for a quadrotor unmanned aerial vehicle. By combining a parity space approach and a recursive least squares algorithm, we propose a novel fault detection and estimation method strategy for a quadrotor unmanned aerial vehicle, which is described by a linear time-varying system. Specifically, the parity space approach is used to generate a residual in fault detection, and then the magnitude of the fault is estimated by a recursive least squares algorithm with a variable forgetting factor based on the parity. Numerical simulations of a quadrotor unmanned aerial vehicle are conducted to verify the effectiveness of the proposed method.
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