Abstract
The tilt-rotor UAV is a new type of aircraft that has received extensive attention in recent years. It has both a fast-moving fixed-wing mode and a vertical take-off and landing mode that can largely ignore terrain constraints. The dynamic model of tilt-wing uav will change greatly under different flight modes, so the design of its control scheme is very difficult and challenging. In this paper, the design scheme of a new type of variable structure vertical take-off and landing vehicle designed by the laboratory is briefly introduced at first. Then,based on its dynamic model, the decoupling control design is carried out, and a discrete active disturbance rejection controller(ADRC) is designed to control its vertical take-off and landing process. Finally, a simulation model is built and simulated in Simulink. The results show that the scheme has good tracking accuracy and stability in the process of vertical take-off and landing control.
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