A unified control method for quadrotor tail-sitter UAVs in all flight modes: hover, transition, and level flight.

On the current quadrotor tail-sitter UAV, we used 2 different control schemes, quadrotor mode and fixed-wing mode. Although this platform can finish an autonomous flight based on some waypoints, but it has the altitude drop when performing transition flight. This altitude drop problem is very common among most of the VTOL platform.
Therefore, a new control scheme is proposed, it treats the hovering and forward flight mode uniformly, and enabling continuous transition between these two modes, depending on the commanded velocity. The simulation results are quite good, and this part of work has been accepted by IROS 2017, the title is “A Unified Control Method for Quadrotor Tail-sitter UAVs in All Flight Modes: Hover, Transition, and Level Flight”. The experiments and simulation results can be seen in the following video.
Video