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This paper presents a flight control design for compound Electric VerticalTakeoff and Landing (eVTOL) vehicles. With their multitude of degrees ofcontrollability as well as the significant variations in their flightcharacteristics, VTOL vehicles present challenges when it comes to designingtheir flight control system, especially for the transition phase where thevehicle transitions between near-hovering and high-speed wing-borne flights.This work extends previous research on the design of unified and genericcontrol laws that can be applied to a broad class of vehicles such as hoveringvehicles and fixed-wing aircraft. This paper exploits this unifying propertyand presents an extension for the case of compound VTOL vehicles. The proposedcontrol approach consists of nonlinear geometric control laws that arecontinuously applicable over the entire flight envelope, excluding the use ofswitching policies between different control algorithms. A transition strategyconsisting of a sequence of high-level setpoints is associated with the flightcontrol laws, it is defined with respect to flight envelope limitations and isapplied in this work to a commercially available compound UAV. The controlalgorithms are implemented on a Pixhawk controller, they are evaluated viaHardware-In-The-Loop (HIL) simulations, and finally validated in a flightexperiment.

Full-Envelope Flight Control and a Transition Strategy for Compound eVTOL aircrafts