Dynamic Allocation Algorithm for the Gain of UAV Nose Wheel Steering and Differential Braking Based on Decomposition Control

Affected by the imitation of runway condition, crosswind, unbalance load and different performance of brake device on both sides of the wheels, there will generally appear yaw angle and lateral offset while the umnanned aerial vehicle (UAV) is taxiing. The UAV would skid off the runway and cause serious accident if the yaw angle and lateral offset are not corrected in time. In this paper, a dynamic allocation algorithm for the gain of UAV nose wheel steering and differential braking based on decomposition control is proposed to correct these departures and make the UAV turning back to the center of runway. By this algorithm, the route following control of UAV is achieved.