The tilt-rotor unmanned aerial vehicle (TRUAV) has vertical take-off and landing and high-speed flight capabilities through conversion and reconversion modes, thereby presenting wide application prospects. This article presents a compact tilt tri-rotor UAV. For flying in the conversion mode, the TRUAV needs to realize the transition of two control logic and two kinds of actuators in both of the rotor and fixed-wing modes, achieving the control of the multi-input multioutput, input nonaffine, and nonlinear multichannel cross-coupling UAV system. Furthermore, the lateral dynamics of a tilt tri-rotor UAV is more unstable for unpaired rotors. These system characteristics present a great challenge to conversion control. To solve these problems, the nonlinear dynamic model of the vehicle in the conversion mode is provided. Furthermore, a cascade control system consisting of position control, velocity control, angle control, angular velocity control, and control mixer is proposed. The simulation result of the control system shows steady flight and a fast transition in the conversion mode with modeling uncertainty in case of no wind.

倾转旋翼无人机（TRUAV）通过转换和再转换方式具有垂直起降和高速飞行能力，具有广阔的应用前景。本文介绍了一种紧凑型倾斜三旋翼无人机。对于转换模式飞行，TRUAV需要在旋翼和固定翼模式下实现两种控制逻辑和两种执行器的转换，实现多输入多输出、输入非仿射和非线性多通道的控制。交叉耦合无人机系统。此外，倾斜三旋翼无人机的横向动力学对于未配对的旋翼更不稳定。这些系统特性对转换控制提出了巨大挑战。为了解决这些问题，提出了车辆在转换模式下的非线性动力学模型。此外，提出了由位置控制、速度控制、角度控制、角速度控制和控制混合器组成的串级控制系统。控制系统的仿真结果表明，在无风情况下，在具有建模不确定性的转换模式下，飞行平稳，转换速度快。