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 …