Incremental nonlinear dynamics inversion for attitude control of high-lift hybrid mode UAV transition process

Hybrid mode UAV has a very broad application prospect in the future because it integrates the advantages of rotorcraft and fixed-wing. The high-lift hybrid mode UAV adopts the tailsitter configuration, but it has control difficulty lies in the attitude stability during the transition process. A complete dynamic model is established for the UAV. Based on the principle of time scale separation, attitude loop can be divided into angle outer loop and angular velocity inner loop. The attitude control of hybrid mode UAV transition is realized by incremental dynamic inversion method, and compared with the effect of the PID controller. The simulation results show that the proposed attitude controller is feasible, and has certain practicability, which can track the command attitude angle quickly with high tracking accuracy.