Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of hybrid micro-small UAVs, coined as lifting-wing quadcopters. The airframe orientation of the lifting wing needs to tilt a specific angle often within $ 45$ degrees, neither nearly $ 90$ nor approximately $ 0$ degrees. Compared with some convertiplane and tail-sitter UAVs, the lifting-wing quadcopter has a highly reliable structure, robust wind resistance, low cruise speed and reliable transition flight, making it potential to work fully-autonomous outdoor or some confined airspace indoor. In the modeling part, forces and moments generated by both lifting wing and rotors are considered. Based on the established model, a unified controller for the full flight phase is designed. The controller has the capability of uniformly treating the hovering and forward flight, and enables a continuous transition between two modes, depending on the velocity command. What is more, by taking rotor thrust and aerodynamic force under consideration simultaneously, a control allocation based on optimization is utilized to realize cooperative control for energy saving. Finally, comprehensive Hardware-In-the-Loop (HIL) simulations are performed to verify the advantages of the designed aircraft and the proposed controller.

翻译：无人驾驶飞行器(UAVs)将多式无人驾驶飞行器(VTOL)的固定翼和垂直起飞和着陆(VTOL)的有效前方飞行能力整合为多式无人驾驶飞行器(UAVs)的高效前方飞行能力。本文展示了新型混合微型小型小型飞行器的模型、控制和模拟,以升降翼四角机为硬盘。升降翼的机体方向需要倾斜一个特定角度,这种角度通常在45美元范围内,既不近90美元,也不近0美元。与某些旋转翼和尾盘式无人驾驶飞行器相比,升翼四角机具有高度可靠的结构、强风阻力、低巡航速度和可靠的过渡飞行,因此有可能在室内完全自主运行一些小型小型无人驾驶飞行器。在模型部分,考虑升降翼机和旋转机产生的力量和时段。根据既定模型设计一个全飞行阶段的统一控制器。控制员有能力统一处理悬浮飞行和前方飞行,并能够根据速度指令在两种模式之间持续过渡。更能的是,利用螺旋推进器推进器的推进力推进力推进力,最终进行最佳控制,同时进行最优化控制。