Multirotor VTOL and Tilt Rotor Transition to Fixed Wing

For a tiltrotor Vertical Take-off and Landing (VTOL) aircraft, the transition from hovering to forward flight has unique challenges, particularly in terms of aerodynamics, control systems, and vehicle design. This paper presents a modular flight simulation framework for VTOL aircraft comprising multiple tiltrotors. The control strategy using the combination of the Proportional-Integral-Derivative (PID) controller and Incremental Nonlinear Dynamic Inversion (INDI) controller is successfully implemented in the models. Each multirotor configuration is mathematically modeled with a focus on the transition phase. The simulations presented are successfully implemented for the vertical takeoff, transition phase and forward flight for each case of multirotor configuration. This research not only advances the state of the art in UAV technology but also opens new possibilities for different applications.