Multi-Model Based Robust Attitude Control of a Dual-System UAV During Transition

This paper presents a multi-model based robust attitude control design of a dual-system UAV during the transition flight. Linearized pitch dynamics models are derived considering the aerodynamic effects of the fixed-wing components on the flight. Based on the derived models, multiplicative uncertainty descriptions are used to represent the perturbed models. The uncertainty descriptions are integrated into structured <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$H_{\infty}$</tex> syn-thesis based on a multi-model approach. The simulation results are analyzed from both the frequency and time domain aspects, which show that the designed controllers satisfy the robust stability and performance requirements, and further indicate the feasibility of the proposed multi-model based structured <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$H_{\infty}$</tex> approach for the transition flight control.