Robust Adaptive Control of a Slow Rotor Compound eVTOL General Aircraft

Technological advances in areas such as battery technology, autonomous control, and distributed electric propulsion, have sparked significant interest in electric vertical takeoff and landing (eVTOL) aircraft for urban air mobility. In this work, we propose an adaptive control scheme to track the desired attitude for a slow rotor compound eVTOL autogyro in all flight modes. The attitude control scheme is based on a high-fidelity model built from first principles, incremental dynamic inversion (INDI) based on trim-map and neural network to achieve robust attitude tracking, a dynamic control allocation (DCA) approach to handle overactuation. Simulation results show the robustness and effectiveness of the proposed control scheme.