Abstract: This paper proposes an incremental nonlinear dynamic inverse control scheme for the transition mode control problem of tilt rotor unmanned aerial vehicles (TRUAVs). Firstly, based on the dynamic characteristics of a quadrotor TRUAV, a longitudi-nal motion model suitable for control is established. Then, the virtual control command and control allocation methods are studied, and an adaptive tilt scheme for the transition mode of the TRUAV is designed based on these methods. Subsequently, based on the incremental nonlinear dynamic inverse control theory, inner/outer loop controllers for altitude and attitude tran-sition modes are designed, as well as a mixed control method for rotor and rudder deflection control quantities. Finally, simu-lation experiments validate the effectiveness of the adaptive tilt scheme based on virtual control command allocation, as well as the robustness of the altitude, velocity, and attitude controllers.

Key words: tilt rotor unmanned aerial vehicles, incremental nonlinear dynamic inverse, transition mode, adaptive, dynamic modeling