A lateral-directional control method combining rudder and propeller for full-wing solar-powered UAV

To solve the lateral-directional control problem of the full-wing solar-powered Unmanned Aerial Vehicle (UAV) without ailerons, a control approach which uses rudder deflection and differential propeller thrust to control the lateral direction is proposed. Firstly, the lateral-directional stability and manoeuvrability of this type of UAV with double propellers are analyzed. Secondly, based on the Linear Active Disturbance-Rejection Control (LADRC) theory, the roll and the yaw angle controllers are designed by using the rudder rotation and differential propeller thrust as the control outputs, respectively. Finally, considering the advantages and disadvantages of the roll and the yaw angle controllers, a rudder and propeller combined straight-line trajectory tracking scheme is designed on the base of L1 trajectory tracking theory. Simulation results show that the control method proposed has a good control performance, better robustness and wind resistance. Since the proposed controller has small computational complexity, a simple parameter setting process, and use of practical measurable physical quantities, it will provide a reference solution for further engineering applications.