Abstract
This paper investigates the problem of the transition process strongly disturbed by environmental factors for the vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). Considering the flight characteristics of fixed-wing and multi-rotor UAVs, a transition control scheme according to the change of airspeed is proposed. Firstly, a VTOL UAV dynamic model is established, which consists of three parts: multi-rotor dynamic model, fixed-wing dynamic model and transition process dynamic model. Secondly, a VTOL UAV transition control scheme is given according to the influence of airspeed. Then, due to the uncertainty and external disturbance the transition control scheme can be unstable. To solve this problem, an adaptive super twisting sliding mode observer is adopted to estimate external disturbance. Finally, the simulation and field experimental results show that the effectiveness of the proposed control scheme.
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