In this paper, we present a novel concept for robustly controlling the attitude of tiltwing aircraft. Our main contribution is the introduction of a wing-fixed coordinate system for angular acceleration control, which forms the basis of a simple and robust attitude controller. Using the wing-fixed coordinate system allows us to describe the actuator effectivity using simple approximations based on the current operating conditions of the aircraft. Coupled with a robust angular rate control concept, which does not rely on an accurate aerodynamic model, we present a controller stabilizing the entire flight envelope of a tiltwing aircraft. The underlying angular acceleration controller uses the concept of Incremental Nonlinear Dynamic Inversion (INDI) to achieve robustness against aerodynamic uncertainties. The resulting controller is evaluated in both simulation studies and flight tests.

中文翻译：

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使用机翼固定坐标系和增量非线性动态反演的倾斜翼飞机姿态控制

在本文中，我们提出了一种新的概念来稳健地控制倾斜翼飞机的姿态。我们的主要贡献是引入了用于角加速度控制的机翼固定坐标系，它构成了简单而稳健的姿态控制器的基础。使用机翼固定坐标系，我们可以根据飞机的当前运行条件使用简单的近似值来描述执行器的有效性。结合不依赖于精确空气动力学模型的稳健角速率控制概念，我们提出了一种稳定倾斜翼飞机整个飞行包线的控制器。底层角加速度控制器使用增量非线性动态反演 (INDI) 的概念来实现对空气动力学不确定性的鲁棒性。