Robust control of oblique flying wing aircraft

A robust control system for decoupled stabilization of an oblique flying wing aircraft, comprising:

• one or more processors;
• and
• one or more non-transitory computer-readable media that store instructions that, when executed by the one or more processors, cause the computing system to perform operations, the operations comprising
• computing an angular velocity error between a reference angular velocity and an actual angular velocity,
• computing a moment command with an angular velocity controller based at least in part on the angular velocity error, wherein a plant matrix of the angular velocity controller is dense such that each component of the plant matrix is non-zero, and a closed-loop transfer function matrix of the angular velocity controller comprises non-zero value diagonal components and zero value off-diagonal components, and
• computing a control surface command for an allocator based at least in part on the moment command.

A robust control method for decoupled stabilization of an asymmetric aircraft, comprising:

• computing an angular velocity error between a reference angular velocity and an actual angular velocity;
• computing a moment command with an angular velocity controller based at least in part on the angular velocity error, wherein the angular velocity controller decouples two or more of a yaw rate axis, a pitch rate axis, and a roll rate axis of the asymmetric aircraft for the moment command;
• and
• adjusting one or more control effectors of the asymmetric aircraft based at least in part on the moment command such that a yaw rate adjustment command only adjusts yaw of the asymmetric aircraft, a pitch rate adjustment command only adjusts pitch of the asymmetric aircraft, and a roll rate adjustment command only adjusts roll of the asymmetric aircraft.