Modeling of an Unmanned Hybrid Aerial Vehicle

International audienceIn this paper, the mathematical modeling of ahybrid aerial vehicle is presented. This vehicle is a combinationof a fixed-wing aircraft and a multirotor helicopter. Thisvehicle is thus capable of vertical take off and landing (VTOL)and of cruising forward flight. The thrust is generated by 4propellers which can pivot and thus the direction of thrust iscontrollable. This paper details the nonlinear dynamics of theaircraft, including major aerodynamics effects and thrust-tiltingeffects, resulting in a realistic simulator for control design andvalidation