The flight control problem of an H-shaped dual-wing tilt-rotor quadrotor UAV
during positive tilt transition is investigated, where the rotor tilt angle
varies continuously from 0° to 90° and the vehicle shifts from rotor-borne to
wing-borne lift. A component-based partitioning approach is adopted to build a
complete kinematic and dynamic model of the fuselage, wings, rotors, and main
body, derived from the Newton–Euler equations and the momentum theorem so that
major force and moment contributions can be explicitly integrated. Based on this
model, a MATLAB/Simulink simulation platform is established for controller
evaluation. To achieve stable tracking with practical implementability, a
dynamic sliding mode control (DSMC) strategy is developed, which avoids the
explosion of complexity caused by repeated differentiation and balances response
speed and attenuation of residual oscillations, particularly in the altitude
channel. Furthermore, the performance of both DSMC and conventional sliding mode
control (SMC) is systematically examined through extensive simulations under
representative flight scenarios, including different transition speeds, various
tilt angles, external disturbances, and multi-UAV cooperative tracking tasks.
Comparative simulations with conventional sliding mode control under identical
transition settings show stable command tracking and faster error convergence,
with particularly improved altitude steady-state precision, while the velocity
response exhibits a trade-off in mean-square accuracy over the evaluation
horizon.