A Preliminary Modeling and Control Framework for a Hybrid UAV J-Lion

J-Lion is a tail-sitter UAV platform developed to perform both VTOL and cruise flight missions. This paper presents a preliminary modeling and control framework for our hybrid UAV J-Lion. A unified model structure including comprehensive model components is derived for full envelop flight conditions. Currently, model-based controller has been specifically designed for VTOL mode that can handle large angle deviations. Our method is verified by outdoor flight tests with existence of strong wind gust. NOMENCLATURE δp Vectoring thrust angle in pitch channel. Positive value means that vectoring thrust propellers produce positive pitch torque δfin1, δfin2 Deflection angles of two fins. Positive value means that fin deflection produces positive pitch torque ω1, ω2 Rotating speed of two propellers

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