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PURPOSE: A failure diagnostic method of a control surface driver of a drone aircraft using an observation plane is provided to sense the location of the control surface where a malfunction has occurred. CONSTITUTION: A failure diagnostic method of a control surface driver of a drone aircraft using an observation plane comprises: a step of estimating the direction and speed of wind which affects the flying of an aircraft(S2); a step of detecting trouble on a control surface by comparing an estimation output vector and a pre-input model output vector(S4); a step of classifying the control surface with a malfunction by comparing the estimation output vector and the model output vector(S5); a step of estimating the fixed angle of the control surface when the malfunction occurs(S6); and a step of re-forming an algorithm in order to detect new malfunctions by reflecting the malfunction detected from a fault detection step(S7).

Actuator Fault Diagnosis of UAVs using Adaptive Unknown Input Observers