Robust Controller Design for a Tail-sitter UAV in Flight Mode Transitions

摘要

This paper proposes a nonlinear robust control design method for tail-sitters. The vehicle control system design is challenging due to the two different flight regime and the uncertainties and disturbances existed in the vehicle dynamics. Dynamic inversion technique is adopted to establish the tracking error system. A state feedback controller is designed to guarantee the stability of the designed control system. A robust compensator is synthesized based on the signal compensation theory to ensure the robustness properties of the tracking error system. Simulation results are presented to demonstrate the effectiveness of the proposed nonlinear controller.