Model and Adaptive Control of Rotor/Wing Compound UAV Based on Derivative-Free Adaptive NDI

With the upsurge of urban air mobility, compound V/STOL vehicle enter a new boom round. There is a long research and development history for compound vehicle, but remain rare studies on the full-mode flight control. In this work, a UAV compound with double-mode rotor and wing is introduced and typical flight profile and flight stage division of the UAV are described. Then flight dynamics model of the UAV is built based on explicit blade element method. And a robust adaptive full-mode control scheme is designed based on adaptive neural network augmented nonlinear dynamic inversion. The derivative-free adaptive strategy is adopted to achieve fast adaption. A control allocator is designed based on the dynamic allocation method to coordinate the rotor and the aerodynamic surfaces. Simulation results illustrate superior full-mode flight control performance of the proposed scheme.