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<p>Controlling the nonlinear coupled dynamics of rudderless flying-wing unmanned aerial vehicles (UAVs) is highly challenging due to limited control surfaces and strong interaction between longitudinal and lateral motions particularly in the lateral channel, which exhibits high sensitivity and non-minimum phase behavior. This paper addresses these challenges by proposing a fault-tolerant control strategy for simultaneous longitudinal and lateral trajectory tracking under time-varying actuator faults. A detailed nonlinear model is developed, incorporating aerodynamic coefficients, stability derivatives, and trim conditions to capture the full dynamics of the flying-wing UAV. A sliding mode controller with integral action, which benefits from a customized sliding surface design based on linear quadratic regulator (LQR) optimization, is implemented to construct a hybrid control structure. The three-channel hybrid controller enables tracking performance in both longitudinal and lateral motions by adjusting the coupling through appropriate weighting factors. The designed control structure shows good robust tracking and fault-tolerant performance in longitudinal, lateral, and concurrent longitudinal/lateral tracking purposes which also benefits from simple parameter setting processes, and time-saving calculations. Also, a comparison between fully linear and nonlinear hybrid models shows the effectiveness of the proposed nonlinear hybrid closed-loop system. Overall, the method provides a reliable and efficient solution for flight control of rudderless UAVs operating under realistic and fault-affected environments.</p>

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Robust Fault-Tolerant Hybrid Tracking Controller Design for Rudderless Flying-Wing UAVs with Nonlinear Dynamics

  • 期刊论文

  • 发表日期：

    2025年8月5日

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  • Sevda Rezazadeh Movahhed,
  • Mohammad Ali Hamed

摘要

Controlling the nonlinear coupled dynamics of rudderless flying-wing unmanned aerial vehicles (UAVs) is highly challenging due to limited control surfaces and strong interaction between longitudinal and lateral motions particularly in the lateral channel, which exhibits high sensitivity and non-minimum phase behavior. This paper addresses these challenges by proposing a fault-tolerant control strategy for simultaneous longitudinal and lateral trajectory tracking under time-varying actuator faults. A detailed nonlinear model is developed, incorporating aerodynamic coefficients, stability derivatives, and trim conditions to capture the full dynamics of the flying-wing UAV. A sliding mode controller with integral action, which benefits from a customized sliding surface design based on linear quadratic regulator (LQR) optimization, is implemented to construct a hybrid control structure. The three-channel hybrid controller enables tracking performance in both longitudinal and lateral motions by adjusting the coupling through appropriate weighting factors. The designed control structure shows good robust tracking and fault-tolerant performance in longitudinal, lateral, and concurrent longitudinal/lateral tracking purposes which also benefits from simple parameter setting processes, and time-saving calculations. Also, a comparison between fully linear and nonlinear hybrid models shows the effectiveness of the proposed nonlinear hybrid closed-loop system. Overall, the method provides a reliable and efficient solution for flight control of rudderless UAVs operating under realistic and fault-affected environments.