The control allocation of flying saucer with uncertainties

In order to harmonize the actions between thrust vectoring control and mass control of the flying saucer, the control allocation was used to design the input control commands. The variable structure control was used to generate the virtual control law. The actuator dynamics was considered. In order to improve the robustness of the system, the uncertainties of the aerodynamic coefficients of the system were also considered in control allocation. Simulation results show that the proposed method is right and effective.