A Robust Nonlinear Flight Control in the Weighted Sobolev Space for a Quadtiltrotor UAV

Special Session: Hybrid and Convertible Unmanned Aerial Vehicles. A robust nonlinear optimal \(\mathcal {W}_\infty \) controller is designed for trajectory tracking of a quadtiltrotor Unmanned Aerial Vehicle (UAV) operating in helicopter-flight mode. The proposed controller provides trajectory tracking of the translational position and yaw angle, and set-point regulation of the tilting mechanisms’ angles, while stabilizing the roll and pitch dynamics. Unlike most works in literature, the control design is here conducted without any simplification of the multi-body dynamic model of the quadtiltrotor UAV. The efficacy of the proposed control strategy is corroborated by numerical experiment results.