Nonlinear Control of Hybrid Drones via Optimised Control Allocation

Gil Serrano, Bruno J. N. Guerreiro, Rita Cunha

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


This work addresses the development of a unified control strategy, based on nonlinear control techniques, for hybrid tri-tiltrotor UAVs, so that a simple trajectory is followed. A model of a tri-tiltrotor UAV is derived, detailing the forces and moments that act on the system, followed by a unified control approach that considers the system dynamics as a whole. Backstepping control and nonlinear optimisation are used for position and attitude control to calculate force and moment references and a control allocation strategy based on nonlinear optimisation is proposed. Two trajectories are defined; in the first trajectory, the UAV is expected to fully transition from rotary-wing to fixed-wing configuration, while in the second, it is expected to fly in an intermediate configuration. To validate the approach, simulations for these trajectories are performed and the results are analysed.

Original languageEnglish
Title of host publicationCONTROLO 2022
Subtitle of host publicationProceedings of the 15th APCA International Conference on Automatic Control and Soft Computing, July 6-8, 2022, Caparica, Portugal
EditorsLuís Brito Palma, Rui Neves-Silva, Luís Gomes
Place of PublicationCham
ISBN (Electronic)978-3-031-10047-5
ISBN (Print)978-3-031-10046-8
Publication statusPublished - Jul 2022

Publication series

NameLecture Notes in Electrical Engineering
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


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