Robust Optimal Attitude Controller Design for Tail-Sitters

This paper presents a robust optimal flight control approach for a class of tail-sitter unmanned aerial vehicles (UAV s) to achieve the optimal tracking control performances and robustness properties in the flight mode transitions. It is proven that the attitude tracking errors can converge into a given neighborhood of the origin in a finite time. Simulation results are presented to show the effectiveness of the proposed robust optimal control method.