Taxiing Control of Full-wing Solar-powered UAV by Using Differential Propeller Thrust

To solve the taxiing control problem under lack of nose wheel steering system and rudder, a control approach which uses differential propeller thrust to control taxiing is proposed, with full-wing solar-powered UAV (FSUAV) as the research model. This study gives the taxiing mathematical model of FSUAV and designs a taxiing controller based on linear active disturbance rejection control method (LADRC). Simulations are conducted to demonstrate the effectiveness and robustness of the designed controller and compare with PID controller.