  This paper addresses modeling and control of a six-degree-of-freedom unmanned
aerial vehicle capable of vertical take-off and landing in the presence of wind
disturbances. We design a hybrid vehicle that combines the benefits of both the
fixed-wing and the rotary-wing UAVs. A non-linear model for the hybrid vehicle
is rapidly built, combining rigid body dynamics, aerodynamics of wing, and
dynamics of the motor and propeller. Further, we design an H2 optimal
controller to make the UAV robust to wind disturbances. We compare its results
against that of PID and LQR-based control. Our proposed controller results in
better performance in terms of root mean squared errors and time responses
during two scenarios: hover and level-flight.
