The saucer UAV (Unmanned Aerial Vehicle) features both helicopter and traditional fixed-wing airplane, is capable of hovering, takeoff and landing vertically. The configuration of the UAV in this paper which is comprised of a propeller and there pairs of control vanes enclosed in the duct is new-style aircraft. In order to research the attitude control of the saucer UAV, this paper mainly focuses on the dynamic analysis and control model design of the vehicle. The dynamics of all the components

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... of the UAV configuration is analyzed respectively first and then the complete nonlinear model is constructed from the forces and moments analysis of the vehicle. The model is simplified in the flight node of hovering. After that a robust model based on 2 H H∞ is designed to handle the parameter uncertainty and disturbance while in the hovering condition, and the simulation results are presented at last. Simulated results show the controller designed can guarantee the saucer UAV has good stable feature for operation and certain robustness. Index Terms-saucer unmanned aerial vehicle (UAV); modeling; 2 H H∞ theory; flight mechanics; flight simulation