Sensing and Control Integration for Thrust Vectoring in Heavy UAVs: Real-World Implementation and Performance Analysis.

The article focuses on the development and real-world implementation of an Adaptive Robust Attitude Controller (ARAC) integrated with Thrust Vector Control (TVC) via flap vanes for heavy Multi-Ducted Fan (MDF) Unmanned Aerial Vehicles (UAVs) powered by thermal engines. It presents refined mathematical and aerodynamic models, and details the design of a compound control algorithm combining adaptive and sliding mode control techniques to address internal nonlinearities and external disturbances affecting UAV stability and maneuverability. The research includes the evolution of three MDF prototypes culminating in the "WILD HOPPER," a heavy UAV equipped with six thermal engines and flap vane actuators, and validates the controller's performance through simulations and real flight experiments demonstrating effective attitude stabilization under various disturbances. The study highlights the potential of TVC with flap vanes to enhance flight autonomy and resilience in heavy UAVs, proposing future work on optimizing flap vane geometry to improve efficiency and reduce drag.