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Aircraft 46(4), 1231–1239 (2009)Īhn, O., Kim, J.M., Lim, C.H.: Smart UAV research program status update: achievement of tilt-rotor technology development and vision ahead. Yeo, H., Johnson, W.: Performance and design investigation of heavy lift tilt-rotor with aerodynamic interference effects. Hirschberg, M.J.: An overview of the history of vertical and/or short take-off and landing (V/STOL) Aircraft. Regardless of disturbances, the aircraft can achieve the mode transition safely and smoothly. Finally, a numerical example is given to verify the effectiveness and robustness of the proposed approach. Moreover, ESOs are provided to enhance the robustness of the system for uncertainties. To adapt to complex aerodynamic characteristics and maneuvering characteristics, and the vibrational control structure in different part of the transition mode, a nonsingular terminal sliding mode control method is applied to make the states converge to the reference trajectories in finite time. Due to the velocity and structure of tilt rotor UAV vary significantly with the variation of tilt angle, the transition mode is divided into two parts. A controller design method using nonsingular terminal sliding mode surface and extended state observers (ESOs) is proposed. This paper focuses on the finite time convergence problem of system states in the course of the transition flight control for a small tilt rotor unmanned aerial vehicle (UAV).

Tilt rotor flight control system