For realization of the flying wing UAV maneuvering flight

a fluid vector rudder flying wing UAV as study object

the controller is designed by using the nonlinear design method and carried out flight validation.As the existence of various coupling and disturbance in the maneuvering flight control of flying wing UAV

a novel control scheme that the inner loop use linearization decoupling methods to eliminate the known negative coupling and the outer loop use backstepping methods for trajectory tracking control is used. Compared with the traditional backstepping control method

the controller increases the inner loop decoupling structure

and retains the aerodynamic damping term in the control structure

which makes the linearized system as a weak nonlinear system.The proposed contro structure not only can reduce the conservatism of the outer loop controller design

but also is convenient in practical engineering realization.Finally

Simulation and flight results show that the proposed control scheme is effective.