Transition Mode Hybrid Control Strategy for Tiltrotor Unmanned Aerial Vehicle

The transition phase of a tiltrotor unmanned aerial vehicle (T-UAV) poses unique challenges arising from strong nonlinearities, dynamic coupling, and power limitations. Conventional linear controllers struggle to ensure stable attitude regulation and smooth mode transitions under such conditions. To address these issues, this study introduces a hybrid control strategy integrating fuzzy gain scheduling control (FGSC) and dynamic inverse decoupling control (DIDC). FGSC adaptively reallocates control authority between rotors and aerodynamic surfaces, while DIDC provides dynamic decoupling for precise attitude regulation. A six-degree-of-freedom nonlinear dynamic model is established and validated through simulations in the Matlab/Simulink \(\circledR \) environment. Results demonstrate that the proposed controller maintains stability under thrust constraints and crosswind disturbances, achieving smooth transitions with minimal attitude deviation. The hybrid strategy offers a robust and practical framework for tiltrotor flight control in power-limited and dynamically complex environments.