Boundary Protection Control of a Hybrid Vertical Take-Off and Landing UAV

In this paper, a pre-defined performance tracking control method based on the safe flight boundary of a Hybrid Vertical Take-Off and Landing (VTOL) UAV is presented. Firstly, longitudinal flight model of hybrid VTOL UAV is modeled, and secondly, based on the UAV power constraint, the UAV's angle of attack-velocity safety boundary is established. Then, the performance function is designed based on the safety boundary. The VTOL UAV boundary protection is implemented using a pre-defined performance control method. Finally, the theoretical analysis and simulation experiments verify the effectiveness of the method in this paper.