This paper aims to design a robust fault detection and tracking control system for unmanned aerial vehicles (UAVs). Firstly, the quad-roto unmanned aerial vehicle(QUAV) is modeled as a linear variable parameter system (LPV), which is used as a target for system design. In order to detect and isolate faults, a robust LPVs observer is designed. By using a set of feasible linear matrix inequalities (LMI), sufficient conditions for the system to be asymptotically stable and robust to disturbance rejection are given. Moreover, based on the pole assignment of the LMI region, the gain design of the observer is taken into account. Then, an observer library is used to consider fault detection and isolation schemes to detect and isolate sensor faults. Secondly, the feedback controller is designed by considering the comparator integrated control scheme. The objective is to design a robust controller that allows the QUAV to follow the set position with no deviation. Finally, the effectiveness of the proposed algorithm is experimentally verified in the simulation model.