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An augmented system is first constructed by treating the sensor fault as an auxiliary state. An adaptive fault estimation scheme with an  H∞H_\\infty H∞​  performance criterion is then developed to simultaneously estimate the actuator and sensor faults. To achieve the tracking control, a nonlinear sliding mode-based state feedback control law is proposed depending on the estimated states and information about fault from the fault estimating unit. The efficacy of the suggested technique is evaluated using a nonlinear model of the multirotor unmanned aerial vehicle (UAV) system with six degrees-of-freedom (DoF) motion. The proposed method is implemented in the inner loop subsystem in order to obtain the attitude and altitude tracking while the outer-loop control is simply a PID controller. 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