Flight controller design for vertical, transition and horizontal modes of a tilt-wing quadrotor

In this paper vertical, transition and horizontal modes flight controllers of a tilt-wing quadrotor are proposed for trajectory tracking under the effect of disturbance. Dynamics of the aerial vehicle is divided into two subsystems, namely position and attitude subsystems. Since attitude dynamics is faster than position dynamics, position controllers are designed to generate reference angles for attitude subsystem. Three different position control approaches are utilized in different flight modes and feedback linearization together with PID controllers are employed for attitude subsystem. Successful simulation results are shown to verify proposed controllers.