The present study develops and executes a model-based fault detection technique for an unmanned aerial vehicles (UAVs). An accurate actuator model is required for the development of this type of fault detection. An Arduino-based experimental testbed is created to analyze servos. Using this testbed, a fault detection circuit is developed for input signals from the user (potentiometer) to the angular movement of the shaft (actuator carrying prototype wing). The fault detection algorithm’s performance is then experimentally assessed on both healthy and faulty actuators. Finally, the actuator model and the fault detection circuit are validated using actuator commands.