Research on control surface failure reconfiguration method for flying wing UAV

Abstract To address the degradation of control performance and flight safety issues caused by actuator failures in flying wing UAVs, this paper introduces a reconfiguration strategy that combines active disturbance rejection dynamic inversion with the weighted pseudoinverse method. The strategy follows a modular design approach, dividing the controller into two independent modules: control allocation and control law. The control law employs a cascaded structure combining active disturbance rejection control with dynamic inversion, achieving decoupling of the control channels while providing real-time compensation for external disturbances and system uncertainties, thereby significantly enhancing system robustness. When the actuator fails, the control allocator uses the weighted pseudo-inverse method to reallocate the remaining functional actuators to offset the aerodynamic moment changes caused by the failure, enabling system reconfiguration. Simulation results demonstrate that this reconfiguration method can maintain accurate tracking of control commands even in the presence of actuator failures, ensuring safe UAV flight.