Attitude control of flying wing UAV based on terminal sliding mode and control allocation

To control the attitude of a flying wing unmanned aerial vehicle (UAV) in its disturbance wind field, it is necessary to take into account its model parameter uncertainty and external disturbance and to solve the redundancy, strong additional force effect, multi-axis coupling control and nonlinear control efficient of a control surface. We study its attitude tracking with the terminal sliding mode base on the extended state observer and with the multiobjective nonlinear control allocation. Based on the nominal sliding mode control law, we estimate and compensate for the disturbance with extended state observer, thus effectively enhancing the robustness and control precision of flying wing UAV. The attitude control system can make full use of the redundant control surface to realize the integrated tradeoff control allocation of multiple targets under various flight conditions and missions.