Supermaneuverable Flipping Control and Planning Based on Multi-Rotor Mode of Tilt-Rotor UAVs

Maneuverability is a critical factor for UAV s to survive in high-intensity combat scenarios. Traditional UAV s typically operate in a stable motion state to ensure flight safety. However, in highly contested environments, special missions require high mobility while maintaining safety. Tilt-rotor UAV s, which combine the characteristics of fixed-wing and multi-rotor UAVs, can perform extreme maneuvers, such as high angles of attack and post-stall maneuvers, to rapidly change posture and complete tasks like positioning and defense. Therefore, integrating and optimizing safety and maneuverability metrics is necessary for enabling UAV s to achieve extreme maneuverability. In this paper, extreme maneuver planning and control for tilt-rotor UAV s are realized through a method based on third-order Bezier curve planning of body angular velocity. Experimental results demonstrate tilt-rotor UAVs can perform extreme super-maneuverable flips while maintaining overall process control.