Modeling and attitude control of a tilt tri-rotor UAV

The tilt tri-rotor UAV which combines the advantages of both rotary wing and fixed wing vehicle, offers the capability of hover, vertical take-off and landing and fast forward movement. Because of the complex structure and aerodynamics, the modeling and control of tilt tri-rotor UAV reamians a problem. In this paper, precise model of a tilt tri-rotor UAV is developed by combing system identification and physical measurement. An attitude controller is designed based on control allocation of attitude and throttle on the powerplant. The detailed mathematical model is obtained by the equations of Newton-Euler, which parameters are acquired from designed experiments. To improve the stability of helicopter fight, a new control allocation strategy is developed in the framework of PID control.