A hybrid quadrotor configuration with fixed wings is considered and the control problem of transition between hover and forward flight phases for this configuration is studied. A three degree of freedom dynamic model is constructed using an estimated aerodynamic model with uncertainties which are assumed to be bounded. A nonlinear sliding mode controller is developed for the nominal model and a robust controller is synthesized for the uncertainties, following the Lyapunov redesign approach. The stability of the controller is investigated and a proof for bounded stability is presented. A simulation study for transition from hover to forward flight and from forward flight to hover is performed, the results are presented and discussed.
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