RESUMEN
Undetected partial actuator faults on multi-rotor UAVs can lead to system failures and uncontrolled crashes, necessitating the development of accurate and efficient fault detection and isolation (FDI) strategy. This paper proposes a hybrid FDI model for a quadrotor UAV that integrates an extreme learning neuro-fuzzy algorithm with a model-based extended Kalman filter (EKF). Three FDI models using Fuzzy-ELM, R-EL-ANFIS, and EL-ANFIS are compared based on training, validation performances, and sensitivity to weaker and shorter actuator faults. They are also tested online for linear and nonlinear incipient faults by measuring their isolation time delays and accuracies. The results show that the Fuzzy-ELM FDI model exhibits greater efficiency and sensitivity, while Fuzzy-ELM and R-EL-ANFIS FDI models demonstrate better performance than a conventional neuro-fuzzy algorithm, ANFIS.