Mode Transition Control Law Design for a Multi-modal UAV

This paper proposes a multi-modal UAV system scheme that combines the tail-sitter layout and integrated design of the ducted wing. The tail-sitter and semi-duct complement each other. It improves the maneuverability of UAV and its conversion speed, stability and reliability during vertical /horizontal flight transition. It also has short distance and vertical take-off and landing modes, which greatly expands the application scope of such UAV. For its mode transition stage, the control rules of full modal application based on complementary filter and target coordinate fixed point control are designed, which avoid the complex control logic switch and make the control system more concise and fluent. The simulation and flight test verify the feasibility of the design.