  Whether for their maneuverability, autonomy or ergonomics, convertible UAVs,
meaning those with the ability to take off or land vertically and fly like an
airplane, present many interests. However, their dynamics are complicated by
various phenomena such as non-linearities, aerodynamic couplings or the large
number of degrees of freedom, and it is necessary to use new control tools.
Thus, hybrid control becomes crucial, useful when making binary choices. Since
the drone is able to move in two ways, in pseudo-stationary flight and in
horizontal flight, the question of the relevance of a command with respect to
the other, according to the operational context, arises. This problem is
answered by the design of two nonlinear control laws, based on Lyapunov
functions, which allow to validate the requirements. Therefore, depending on
the configuration, the hybrid mechanism will have to select the appropriate
flight mode. Finally, with the objective of a flight in real conditions, an
implementation has been initiated.
