Heading Control for UAV Taxiing Based on Efficient Distribution of Multiple Actuators

Deviation correction control for runway centerline alignment persists throughout the ground taxiing process of unmanned aerial vehicles (UAVs). The UAV ground taxiing deviation correction system constitutes a complex dynamic system involving the coordinated operation of multiple actuators (including the front wheel, rudder, and differential brake), coupled with system parameter uncertainties, which imposes elevated requirements on autonomous ground taxiing control. Current conventional control strategies lack a theoretical foundation for both synergistic allocation between actuators and safety boundaries, while the heading control law for deviation correction still requires further optimization to enhance control effectiveness. This study first analyzes the sources of heading force and yaw moment during the ground taxiing of the UAV and proposes a stability boundary determination method for sideslip based on steady-state equations. Second, the deviation correction gains of the rudder, front wheel, and differential brakes are investigated, leading to the design of a variable proportional–integral–derivative control law based on deviation correction gain. In addition, a switching logic and coordinated allocation strategy among multiple actuators is developed. Finally, simulations are conducted using Simulink/MATLAB, and experiments are carried out on a 50-kg-class UAV test platform integrating PX4 open-source flight controller firmware and an onboard computing system. Experimental results demonstrate that the proposed heading control law significantly improves taxiing deviation correction capability, with strong real-time performance and adaptability.