Mode Transition Control of Dual Tilt Rotor Unmanned Aerial Vehicle Based on Dynamic Analysis

To achieve the mode transition of a dual tilt rotor unmanned aerial vehicle (dual-TRUAV) from helicopter mode to airplane mode, this study focuses on its transition control method based on necessary dynamic analysis. The dynamic characteristics of the dual-TRUAV especially the longitudinal dynamics are simplified and analyzed mainly, where the influence of the rotor tilt angle on dual-TRUAV dynamics is emphasized. With the above dynamic analysis, the transition control strategy based on the rotor tilt angle is established. The stability analysis of the system with the designed control method is carried out via passive theory, and some simulation results are displayed to validate the control effectiveness.