Robust mode transition attitude control of tail-sitter unmanned aerial vehicles

In this paper, an attitude control strategy is proposed for a class of tail-sitter aerial vehicles, which is required to achieve the desired tracking control performance during the mode transition. The resulted controller is constructed by a nominal controller and a robust compensator to reduce the effects of nonlinear dynamics and uncertainties. Theoretical analysis and numerical simulation results are given to show the effectiveness of the constructed closed-loop control system.