Global Incremental Flight Control for Agile Maneuvering of a Tailsitter Flying Wing

This paper proposes a novel control law for accurate tracking of agile trajectories using tailsitter flying wing unmanned aerial vehicle that transitions between vertical takeoff and landing forward flight. The global formulation enables maneuvering throughout the flight envelope, including uncoordinated with sideslip. Differential flatness nonlinear dynamics simplified aerodynamics model is shown. Using transform, proposed controller incorporates position reference along its derivatives velocity, acceleration, jerk, as well yaw rate. inclusion jerk rate references through an angular velocity feedforward term improves fast-changing accelerations. does not depend on extensive aerodynamic modeling but instead uses incremental dynamic inversion to compute updates based only local input–output relation, resulting in robustness against discrepancies equations. Exact relation achieved derived transform. algorithm extensively evaluated tests, where it demonstrates trajectory challenging maneuvers, such sideways aggressive while turning.