{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T01:33:44Z","timestamp":1778636024607,"version":"3.51.4"},"reference-count":27,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2023,6,14]],"date-time":"2023-06-14T00:00:00Z","timestamp":1686700800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the European Commission-funded program WILDHOPPER","award":["880642"],"award-info":[{"award-number":["880642"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Recently, various research studies have been developed to address communication sensors for Unmanned Aerial Systems (UASs). In particular, when pondering control difficulties, communication is a crucial component. To this end, strengthening a control algorithm with redundant linking sensors ensures the overall system works accurately, even if some components fail. This paper proposes a novel approach to integrate several sensors and actuators for a heavy Unmanned Aerial Vehicle (UAV). Additionally, a cutting-edge Robust Thrust Vectoring Control (RTVC) technique is designed to control various communicative modules during a flying mission and converge the attitude system to stability. The results of the study demonstrate that even though RTVC is not frequently utilized, it works as well as cascade PID controllers, particularly for multi-rotors with mounted flaps, and could be perfectly functional in UAVs powered by thermal engines to increase the autonomy since the propellers cannot be used as controller surfaces.<\/jats:p>","DOI":"10.3390\/s23125561","type":"journal-article","created":{"date-parts":[[2023,6,14]],"date-time":"2023-06-14T02:01:40Z","timestamp":1686708100000},"page":"5561","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Thrust Vectoring Control for Heavy UAVs, Employing a Redundant Communication System"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8773-7184","authenticated-orcid":false,"given":"Mohammad Sadeq","family":"Ale 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"},{"name":"Wake Engineering Company, 28906 Getafe, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6897-6048","authenticated-orcid":false,"given":"Ahmed Refaat","family":"Ragab","sequence":"additional","affiliation":[{"name":"Department of Network, Faculty of Information Systems and Computer Science, October 6 University, Giza 12511, Egypt"},{"name":"Department of Electrical Engineering, University Carlos III of Madrid, 28919 Legan\u00e9s, Spain"},{"name":"Drone-Hopper Company, 28919 Legan\u00e9s, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"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"},{"name":"Ahyres Company, 28905 Getafe, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3936-332X","authenticated-orcid":false,"given":"Mohammad Mehdi","family":"Ale Eshagh Khoeini","sequence":"additional","affiliation":[{"name":"Department of Business Administration, Istanbul Aydin University, Istanbul 34295, Turkey"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"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"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,6,14]]},"reference":[{"key":"ref_1","unstructured":"Tzu, S. 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