Fundamental numerical and experimental evaluation of attitude recovery control for a quad tilt rotor UAV against disturbance

This paper presents attitude recovery control for a quad tilt rotor UAV. The quad tilt rotor UAV has ability of flying with completely independent 3 DOF position and 3 DOF attitude control by changing the thrust directions. This type of UAV is expected to perform better response to the disturbance by virtue of the mechanism of changing the thrust directions compared to the conventional multi-rotor UAV. This paper proposes disturbance detection method using IMU sensor and develops attitude recovery control against impact disturbance. The numerical simulation and fundamental flight experiments were carried out to evaluate the effectiveness of the proposed method compared to the conventional PID control.