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However, electric UAVs often suffer from limited flight autonomy, necessitating the exploration of alternative power sources such as thermal engines. On the other hand, managing thermal engines introduces complexities and internal uncertainties into the system. In this paper, an Adaptive Robust attitude controller (ARAC) is proposed to address these challenges by drawing inspiration from helicopter solutions while minimizing mechanical intricacies. Specifically, the designed algorithm employs Thrust Vector Control (TVC) for an industrial heavy Multi-Ducted Fan (MDF), known for its superior static stability compared to conventional ducted fans. Subsequently, an integrated flap vanes system is positioned at the exhaust of the ducts for precise attitude control, effectively removing unwanted yaw moments associated with traditional propellers. This research builds on prior authors\u2019 works to establish a proper mathematical and aerodynamic model. Also, using former simulation results to conduct real flight experiments aimed at enhancing TVC functionality. The findings highlight the effectiveness of this approach for heavy UAV applications. It is worth noting that the practical value of this research lies in its potential to significantly extend flight autonomy supplied by thermal engines and improve the resilience of UAVs in challenging real-world missions. This is particularly achievable provided that the design of flap vanes aligns closely with the dimensions of the duct system, offering a promising solution to a critical engineering challenge in the field of UAV technology. <\/jats:p>","DOI":"10.1142\/s2301385025500396","type":"journal-article","created":{"date-parts":[[2024,4,4]],"date-time":"2024-04-04T09:45:50Z","timestamp":1712223950000},"page":"609-631","source":"Crossref","is-referenced-by-count":1,"title":["Sensing and Control Integration for Thrust Vectoring in Heavy UAVs: Real-World Implementation and Performance Analysis"],"prefix":"10.1142","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8773-7184","authenticated-orcid":false,"given":"Mohammad Sadeq Ale","family":"Isaac","sequence":"first","affiliation":[{"name":"Computer Vision and Aerial Robotics Group, Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM-CSIC), 28006 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-7219-6879","authenticated-orcid":false,"given":"Pablo Flores","family":"Pe\u00f1a","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, University Carlos III of Madrid, 28919 Legan\u00e9s, Spain"},{"name":"Drone-Hopper Company, 28919 Legan\u00e9s, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1036-7538","authenticated-orcid":false,"given":"Marco Andr\u00e9s","family":"Luna","sequence":"additional","affiliation":[{"name":"Computer Vision and Aerial Robotics Group, Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM-CSIC), 28006 Madrid, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6897-6048","authenticated-orcid":false,"given":"Ahmed Refaat","family":"Ragab","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, University Carlos III of Madrid, 28919 Legan\u00e9s, Spain"},{"name":"Department of Network, Faculty of Information Systems and Computer Science, October 6 University, Giza 12511, Egypt"},{"name":"Drone-Hopper Company, 28919 Legan\u00e9s, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9894-2009","authenticated-orcid":false,"given":"Pascual","family":"Campoy","sequence":"additional","affiliation":[{"name":"Computer Vision and Aerial Robotics Group, Centre for Automation and Robotics (CAR), Universidad Polit\u00e9cnica de Madrid (UPM-CSIC), 28006 Madrid, Spain"}]}],"member":"219","published-online":{"date-parts":[[2024,6,4]]},"reference":[{"key":"S2301385025500396BIB001","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1002\/9781394168002.ch7","volume-title":"Drone Technology: Future Trends and Practical Applications","author":"Prakash K. 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