jojongmyeon actuator fault diagnosis method using Adaptive Unknown Input Observer unmanned aircraft in accordance with the present invention of the airplane, In the event of a blast, which interfere with the normal control of the aircraft during flight and estimating the direction and velocity of the blast; The actuator jojongmyeon but the occurrence of the failure is fixed modeling, comparing the estimated output vector according to the group input and image input observer model output vector according to the estimated direction of the blast by determining whether a failure of one of the plurality of jojongmyeon jojongmyeon Fault detection step; Failure phase separation to separate the model output vector with jojongmyeon that a failure of the plurality of jojongmyeon generated by comparing the estimated output vector; Failure location estimating step of estimating the static angle of jojongmyeon the failure is caused by the adaptation method; And the failure to reflect the failure detected by the detecting step comprises a new fault to be detected including a re-forming step of forming the material using the adaptive algorithm of the drone unknown input observer jojongmyeon actuator fault diagnosis method. ; jojongmyeon actuator fault diagnosis method disclosed adaptation of unmanned aircraft with an Unknown Input Observer, jojongmyeon 1 seconds in the event of a fault driver failure to improve the survivability and reliability of the drone by estimating the fixed angle generated by jojongmyeon can be.
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