Dynamic control allocation for the transition mode of composite vertical take-off and landing fixed-wing unmanned aerial vehicle

The transition mode of composite vertical take-off and landing fixed-wing unmanned aerial vehicle is characterized by strong coupling and sudden dynamic changes, making it susceptible to external disturbances; conventional control strategies struggle to meet the requirements for smooth transitions. To address this challenge, this article proposes a dynamic weighting control allocation strategy. This method enables real-time coordination of multiple actuator outputs, thereby achieving smooth flight mode transitions. As proportional derivative controllers lack disturbance rejection capability and have limited control accuracy, this article employs a high-order differential feedback controller in conjunction with dynamic weighting control allocation. Experimental results demonstrate that, while maintaining the smooth transitions achieved by the unmanned aerial vehicle, disturbance rejection capability is significantly enhanced. Compared to proportional–derivative controllers and sliding-mode controllers, the use of high-order derivative feedback controllers has significantly improved control performance. Consequently, the proposed control strategy and algorithm demonstrate superior performance and effectiveness during the transition phase.