Flying-wing unmanned aerial vehicles (UAV) have poor stability or are unstable in the lateral direction due to their tailless configuration, which can cause sideslip and affect tracking accuracy in the presence of crosswinds. This paper presents an extended Kalman filter method for estimating the angle-of-sideslip using inertial sensor data and aerodynamic data for a small flying-wing UAV without sideslip sensors. The estimation result is employed as a feedback to control the split drag rudders for reducing sideslip. In addition, the paper presents a nonlinear UAV lateral tracking model for small sideslip. The model is transformed to a linear system relative to the crosswind disturbance using feedback linearization. A performance restricted H∞ robust control design method is implemented based on the linear system by introducing a virtual control variable. Robust feedback control parameters are obtained from the optimization result. Simulations show the validity of the method in counteracting crosswind effects for accurate tracking.
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2014, Vol. 54 
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