Flight Dynamic Modeling and Control of a Novel Quadrotor Convertiplane Unmanned Aerial Vehicle

This paper develops a comprehensive flight dynamics model and a linear Proportional-Integral-Derivative (PID) controller, valid for full flight envelop, for a novel quadrotor convertiplane unmanned aerial vehicle (UAV) which is capable of operating efficiently in both hover and fixed-wing flight mode. The flight dynamic model includes the complete description of the vehicle kinematics and dynamics during hover, transition, and forward flight modes. The effect of prop-wash which is important for accurate estimation of aerodynamic loads on the tilt wing is also included. The performance of the proposed controller is demonstrated through numerical simulations and the developed controller is able to stabilize the vehicle effectively during hover, transition and forward flight conditions.