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In this paper, we propose an effective unified control law for accuratelytracking agile trajectories for lifting-wing quadcopters with differentinstallation angles, which have the capability of vertical takeoff and landing(VTOL) as well as high-speed cruise flight. First, we derive a differentialflatness transform for the lifting-wing dynamics with a nonlinear model undercoordinated turn condition. To increase the tracking performance on agiletrajectories, the proposed controller incorporates the state and inputvariables calculated from differential flatness as feedforward. In particular,the jerk, the 3-order derivative of the trajectory, is converted into angularvelocity as a feedforward item, which significantly improves the systembandwidth. At the same time, feedback and feedforward outputs are combined todeal with external disturbances and model mismatch. The control algorithm hasbeen thoroughly evaluated in the outdoor flight tests, which show that it canachieve accurate trajectory tracking.

Differential Flatness of Lifting-Wing Quadcopters Subject to Drag and Lift for Accurate Tracking