Flight Control of Tilt Rotor UAV During Transition Mode Based on Finite-Time Control Theory

  • Hang Yang
  • Huangxing Lin
  • Jingyao Wang
  • Jianping ZengEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 891)


This paper focuses on the finite time convergence problem of system states in the course of the transition flight control for a small tilt rotor unmanned aerial vehicle (UAV). A controller design method using nonsingular terminal sliding mode surface and extended state observers (ESOs) is proposed. Due to the velocity and structure of tilt rotor UAV vary significantly with the variation of tilt angle, the transition mode is divided into two parts. To adapt to complex aerodynamic characteristics and maneuvering characteristics, and the vibrational control structure in different part of the transition mode, a nonsingular terminal sliding mode control method is applied to make the states converge to the reference trajectories in finite time. Moreover, ESOs are provided to enhance the robustness of the system for uncertainties. Finally, a numerical example is given to verify the effectiveness and robustness of the proposed approach. Regardless of disturbances, the aircraft can achieve the mode transition safely and smoothly.


Tilt rotor UAV Transition mode Extended state observer Finite-time control 



The authors would thank the National Natural Science Foundation of China (Grant No. 61673325 and U1713223) and the Chancellor Fund of Xiamen University (Grant No. 20720180090) for supporting this research.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Hang Yang
    • 1
  • Huangxing Lin
    • 1
  • Jingyao Wang
    • 1
  • Jianping Zeng
    • 1
    Email author
  1. 1.Xiamen UniversityFujianChina

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