Robust Attitude Control System Design for a Distributed Propulsion Tilt-Wing UAV in Flight State Transition

Abstract

This paper describes the establishment and analysis of a robust attitude control system for a distributed tilt-wing UAV in the flight state transition procedure. Firstly, a complete nonlinear dynamic model of the target UAV was developed. Secondly, a selection of the transition strategy and a unified nonlinear control allocation model were determined, based on which, an optimal linearized control allocation method towards four deflect angles was developed. Thirdly, robust attitude controllers towards four deflect angles were designed through $$ \mu $$ synthesis method and D-K iteration. In the end, a scheduling model is involved to simulate the whole procedure of the flight state transition and the results of the simulation reach the requirement of performance.