Abstract: A fixed-wing vertical take-off and landing (VTOL) vehicle configured with a composite adaptive nonlinear tracking controller that utilizes a real-time accurate estimation of the complex aerodynamic forces surrounding the wing(s) and rotors in order to achieve a high performance flight. The method employs online adaptation of force models, and generates accurate estimation for wing and rotor forces in real-time based on information from a three-dimensional airflow sensor. The novel three-dimensional airflow sensor illustrates improved velocity tracking and force prediction during the transition stage from hover to forward flight.

Abstract: A fixed-wing vertical take-off and landing (VTOL) vehicle configured with a composite adaptive nonlinear tracking controller that utilizes a real-time accurate estimation of the complex aerodynamic forces surrounding the wing(s) and rotors in order to achieve a high performance flight. The method employs online adaptation of force models, and generates accurate estimation for wing and rotor forces in real-time based on information from a three-dimensional airflow sensor. The novel three-dimensional airflow sensor illustrates improved velocity tracking and force prediction during the transition stage from hover to forward flight.