FTC of Flying Wing UAV with sliding mode and control allocation

Flying Wing UAV is attractive in the future because of its aerodynamic characteristic and stealth character. A kind of FTC is provided with sliding mode control and control allocation, with respect to all kinds of fault of effectors. A multi-loop smooth sliding mode control is developed to accommodate to partial loss, partial stick, partial flapping of the effectors. A control allocation method is provide with quadratic programming to dealt with the effectors stick entirely etc. The simulation indicates that this method can dealt with more faults of effectors with few loss of performance.