Review on Dynamic Modeling of Tilt-Rotor UAVs in Low Speed Flight

As a novel aircraft, the tilt-rotor UAV (TRUAV) has potential applications with the merits of high efficiency cruise of fixed-wing aircraft and vertical takeoff and landing of multi-rotors aircraft. A reasonable and accurate flight dynamic model of TRUAV is the basis of performance analysis and controller design. Due to the existence of three different flight modes and other aerodynamic factors, dynamic modeling of TRUAV is more complicated than a fixed-wing or multi-rotors aircraft. Until now, many researches have paid a lot attention on this field. In this paper, we review the art of dynamic modeling techniques of TRUAVs in low speed flight. The features and research states of theoretic, numerical, experimental and hybrid methods are summarized in this paper. Finally, the further research tendencies are discussed.