Controller Design and Flight Test of the High-lift Hybrid Mode UAV

VTOL technology is one of a rapidly developing field that supports a diverse variety of applications by realizing transition between level and vertical flight. This paper introduces a hybrid mode UAV with tailsitter layout and high-lift airfoil. In the process of attitude control of the UAV, it is difficult to directly apply the linear control method due to its nonlinear characteristics. Thus the nonlinear dynamic inverse method is used to design the attitude controller, dividing the attitude loop into angular velocity fast loop and angle slow loop. All flight modes including take-off, transition flight, level flight and landing are simulated and tested. The results show that the system can quickly track the desired attitude angle with high accuracy.