{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,27]],"date-time":"2026-01-27T12:04:23Z","timestamp":1769515463625,"version":"3.49.0"},"posted":{"date-parts":[[2026]]},"group-title":"SSRN","reference-count":226,"publisher":"Elsevier BV","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"DOI":"10.2139\/ssrn.6137518","type":"posted-content","created":{"date-parts":[[2026,1,26]],"date-time":"2026-01-26T23:44:41Z","timestamp":1769471081000},"source":"Crossref","is-referenced-by-count":0,"title":["Hierarchical Control for Hybrid Unmanned Aerial Vehicles"],"prefix":"10.2139","author":[{"given":"Huu  Thien","family":"Nguyen","sequence":"first","affiliation":[]},{"given":"Ionela","family":"Prodan","sequence":"additional","affiliation":[]},{"given":"Fernando  A. C. C.","family":"Fontes","sequence":"additional","affiliation":[]}],"member":"78","reference":[{"key":"ref1","author":"Xu","year":"2019"},{"key":"ref2","author":"Sanchez-Rivera"},{"key":"ref3","author":"De Wagter","year":"2017"},{"key":"ref4","author":"Wang","year":"2017"},{"key":"ref5","author":"Oosedo","year":"2017"},{"key":"ref6","author":"Hochstenbach","year":"2015"},{"key":"ref7","author":"Oosedo"},{"key":"ref8","author":"Argyle","year":"2011"},{"key":"ref9","author":"Kita","year":"2009"},{"key":"ref10","author":"Kita","year":"2009"},{"key":"ref11","author":"Rohr","year":"2019"},{"key":"ref12","author":"Czyba","year":"2018"},{"key":"ref13","author":"Yuksek","year":"2016"},{"key":"ref14","author":"Jung","year":"2013"},{"key":"ref15","author":"Argyle","year":"2013"},{"key":"ref16","author":"Ostermann","year":"2012"},{"key":"ref17","author":"Lu","year":"2024"},{"key":"ref18","author":"Karaman Tal","year":"2022"},{"key":"ref19","author":"Willis","year":"2020"},{"key":"ref20","author":"Zhou","year":"2019"},{"key":"ref21","author":"Xu","year":"2019"},{"key":"ref22","author":"Sanchez-Rivera"},{"key":"ref23","author":"Yuksek","year":"2016"},{"key":"ref24","author":"Small","year":"2016"},{"key":"ref25","author":"Hochstenbach","year":"2015"},{"key":"ref26","author":"Kita"},{"key":"ref27","author":"A Abdessameud","year":"2010","journal-title":"Motion Coordination of Aerial Vehicles"},{"key":"ref28","doi-asserted-by":"crossref","first-page":"1362","DOI":"10.1109\/TAC.2007.902731","article-title":"Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty","volume":"52","author":"A P Aguiar","year":"2007","journal-title":"IEEE Transactions on Automatic Control"},{"key":"ref29","doi-asserted-by":"crossref","first-page":"684","DOI":"10.2514\/2.4310","article-title":"Adaptive asymptotic tracking of spacecraft attitude motion with inertia matrix identification","volume":"21","author":"J Ahmed","year":"1998","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"ref30","author":"Airbus","year":"2024","journal-title":"Vahana | Airbus"},{"key":"ref31","first-page":"715","author":"M Allenspach","year":"2020","journal-title":"Model Predictive Control of a Convertible Tiltrotor Unmanned Aerial Vehicle, in: 2020 28th Mediterranean Conference on Control and Automation (MED)"},{"key":"ref32","article-title":"Nonlinear model predictive control and guidance for a propeller-tilting hybrid unmanned air vehicle","volume":"132","author":"M Allenspach","year":"2021","journal-title":"Drone Delivery FAQs -Amazon Customer Service"},{"key":"ref33","author":"J D Anderson","year":"2017","journal-title":"Fundamentals of Aerodynamics. McGraw-Hill Series in Aeronautical and Aerospace Engineering"},{"key":"ref34","author":"Archer","year":"2024","journal-title":"Archer | Midnight Aircraft"},{"key":"ref35","author":"M E Argyle","year":"2016","journal-title":"Modeling and Control of a Tailsitter with a Ducted Fan"},{"key":"ref36","author":"M E Argyle","year":"2014","journal-title":"Quaternion based attitude error for a tailsitter in hover flight"},{"key":"ref37","first-page":"1396","author":"Portland Ieee","journal-title":"American Control Conference"},{"key":"ref38","first-page":"806","author":"M E Argyle","year":"2013","journal-title":"The Vertical Bat tail-sitter: Dynamic model and control architecture"},{"key":"ref39","doi-asserted-by":"crossref","first-page":"215","DOI":"10.2514\/1.271","article-title":"Tilt Duct Vertical Takeoff and Landing Uninhabited Aerial Vehicle Concept Design Study","volume":"41","author":"O Armutcuoglu","year":"2004","journal-title":"Journal of Aircraft"},{"key":"ref40","doi-asserted-by":"crossref","first-page":"471","DOI":"10.1016\/0005-1098(83)90002-X","article-title":"Theory and applications of adaptive control-A survey","volume":"19","author":"K \ufffdstr\ufffdm","year":"1983","journal-title":"Automatica"},{"key":"ref41","doi-asserted-by":"crossref","first-page":"44","DOI":"10.1109\/REDUAS47371.2019.8999700","article-title":"Development of a Neural Networkbased Adaptive Nonlinear Dynamic Inversion Controller for a Tilt-wing VTOL Aircraft","author":"J Autenrieb","year":"2019","journal-title":"Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)"},{"key":"ref42","year":"2024","journal-title":"The history of Pixhawk | Auterion"},{"key":"ref43","first-page":"421","author":"R Barrett","year":"2017","journal-title":"Hybrid Aircraft Aerodynamics and Aerodynamic Design Considerations of Hover-to-Dash Convertible UAVs"},{"key":"ref44","first-page":"190","article-title":"Adaptive aerostructures: The first decade of flight on uninhabited aerial vehicles","author":"R M Barrett","year":"2004","journal-title":"Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies"},{"key":"ref45","author":"R H Bartels","year":"1995","journal-title":"An Introduction to Splines for Use in Computer Graphics and Geometric Modeling"},{"key":"ref46","doi-asserted-by":"crossref","DOI":"10.1177\/1756829320914264","article-title":"Model-free control algorithms for micro air vehicles with transitioning flight capabilities","volume":"12","author":"J M Barth","year":"2020","journal-title":"International Journal of Micro Air Vehicles"},{"key":"ref47","doi-asserted-by":"crossref","first-page":"703","DOI":"10.1109\/MED48518.2020.9183031","article-title":"Fused-PID Control for Tilt-Rotor VTOL Aircraft","author":"L Bauersfeld","year":"2020","journal-title":"28th Mediterranean Conference on Control and Automation (MED)"},{"key":"ref48","doi-asserted-by":"crossref","first-page":"2395","DOI":"10.1109\/TAES.2021.3061819","article-title":"MPC Flight Control for a Tilt-Rotor VTOL Aircraft","volume":"57","author":"L Bauersfeld","year":"2021","journal-title":"IEEE Transactions on Aerospace and Electronic Systems"},{"key":"ref49","first-page":"630","article-title":"Dynamics modeling and advanced metaheuristics based LQG controller design for a Quad Tilt Wing UAV","volume":"6","author":"R W Beard","year":"2012","journal-title":"International Journal of Dynamics and Control"},{"key":"ref50","journal-title":"BETA Technologies, 2024. Aircraft | BETA Technologies"},{"key":"ref51","author":"Boeing Co","year":"1963","journal-title":"DEVELOPMENT OF THE U.S. ARMY VZ 2 (BOEING VERTOL-76) RESEARCH AIR-CRAFT"},{"key":"ref52","article-title":"Design and Flight Testing of a Convertible Quadcopter for Maximum Flight Speed","author":"R B Bramlette","year":"2017","journal-title":"th AIAA Aerospace Sciences Meeting, American Institute of Aeronautics and Astronautics"},{"key":"ref53","author":"D Brescianini","year":"2013","journal-title":"Nonlinear Quadrocopter Attitude Control"},{"key":"ref54","article-title":"The Paparazzi Solution","author":"P Brisset","year":"2006","journal-title":"MAV 2006, 2nd US-European Competition and Workshop on Micro Air Vehicles"},{"key":"ref55","doi-asserted-by":"crossref","DOI":"10.2514\/6.2020-0064","article-title":"Mission-Oriented Additive Manufacturing of Modular Mini-UAVs","author":"M Bronz","year":"2020","journal-title":"AIAA Scitech 2020 Forum"},{"key":"ref56","doi-asserted-by":"crossref","first-page":"267","DOI":"10.1016\/j.ifacol.2016.07.045","article-title":"Control System Design of a Vertical Take-off and Landing Fixed-Wing UAV","volume":"49","author":"F \ufffdakici","year":"2016","journal-title":"IFAC-PapersOnLine"},{"key":"ref57","doi-asserted-by":"crossref","first-page":"221","DOI":"10.1177\/1756829316678876","article-title":"Design and analysis of a modeswitching micro unmanned aerial vehicle","volume":"8","author":"F \ufffdak?c?","year":"2016","journal-title":"International Journal of Micro Air Vehicles"},{"key":"ref58","volume":"1870","author":"M S Campbell","journal-title":"Lectures on Quaternion"},{"key":"ref59","first-page":"3397","article-title":"Design and Analysis of a Novel L1 Adaptive Controller","author":"C Cao","year":"2006","journal-title":"Part I: Control Signal and Asymptotic Stability, in: 2006 American Control Conference"},{"key":"ref60","doi-asserted-by":"crossref","first-page":"86","DOI":"10.1016\/j.isatra.2020.10.040","article-title":"A new robust adaptive mixing control for trajectory tracking with improved forward flight of a tilt-rotor UAV","volume":"110","author":"D N Cardoso","year":"2021","journal-title":"ISA Transactions"},{"key":"ref61","doi-asserted-by":"crossref","first-page":"2194","DOI":"10.1109\/TCST.2012.2221091","article-title":"Hybrid Control Strategy for the Autonomous Transition Flight of a Fixed-Wing Aircraft","volume":"21","author":"P Casau","year":"2013","journal-title":"IEEE Transactions on Control Systems Technology"},{"key":"ref62","doi-asserted-by":"crossref","first-page":"723","DOI":"10.1016\/j.mechatronics.2012.03.003","article-title":"Design and construction of a novel quad tilt-wing UAV","volume":"22","author":"E Cetinsoy","year":"2012","journal-title":"Mechatronics"},{"key":"ref63","first-page":"247","volume":"90","author":"C Chan","year":"2002","journal-title":"The state of the art of electric and hybrid vehicles. Proceedings of the IEEE"},{"key":"ref64","first-page":"1261","article-title":"World's first vtol airplane convair\/navy xfy-1 pogo","author":"W F Chana","year":"1996","journal-title":"SAE transactions"},{"key":"ref65","article-title":"Hard Disk Drive Servo Systems","author":"B M Chen","year":"2006","journal-title":"Advances in Industrial Control"},{"key":"ref66","doi-asserted-by":"crossref","first-page":"100135","DOI":"10.1109\/ACCESS.2020.2997877","article-title":"Neural-Networks Control for Hover to High-Speed-Level-Flight Transition of Ducted Fan UAV With Provable Stability","volume":"8","author":"Z Cheng","year":"2020","journal-title":"IEEE Access"},{"key":"ref67","doi-asserted-by":"crossref","first-page":"4141","DOI":"10.1109\/ICRA.2019.8793606","article-title":"Modeling and Control of a Passively-Coupled Tilt-Rotor Vertical Takeoff and Landing Aircraft","author":"R Chiappinelli","year":"2019","journal-title":"2019 International Conference on Robotics and Automation (ICRA)"},{"key":"ref68","author":"G R F Colunga","year":"2014","journal-title":"Design, Modeling and Control of a Convertible Mini Airplane Having Four Tiliting Rotors"},{"key":"ref69","doi-asserted-by":"crossref","DOI":"10.2514\/6.2008-7256","article-title":"Experiments in Fixed-Wing UAV Perching","author":"R Cory","year":"2008","journal-title":"AIAA Guidance, Navigation and Control Conference and Exhibit"},{"key":"ref70","doi-asserted-by":"crossref","first-page":"143","DOI":"10.2514\/1.C035455","article-title":"Dynamic Stability Analysis of Aircraft Flight in Deep Stall","volume":"57","author":"T Cunis","year":"2020","journal-title":"Journal of Aircraft"},{"key":"ref71","first-page":"461","article-title":"Development of an Unmanned Vertical Take-Off and Landing Aircraft for Medical Express UAV Challenge","author":"R Czyba","year":"2018","journal-title":"23rd International Conference on Methods & Models in Automation & Robotics (MMAR)"},{"key":"ref72","doi-asserted-by":"crossref","DOI":"10.2514\/6.1965-769","article-title":"The XC-142A V\/STOL -new structures design challenge","author":"L Day","year":"1965","journal-title":"Aircraft Design and Technology Meeting"},{"key":"ref73","doi-asserted-by":"crossref","DOI":"10.1177\/1756829319880302","article-title":"Modeling the unstable DelftaCopter vertical take-off and landing tailsitter unmanned air vehicle in hover and forward flight from flight test data","volume":"11","author":"C De Wagter","year":"2019","journal-title":"International Journal of Micro Air Vehicles"},{"key":"ref74","doi-asserted-by":"crossref","first-page":"16003","DOI":"10.1016\/j.ijhydene.2021.02.053","article-title":"The NederDrone: A hybrid lift, hybrid energy hydrogen UAV","volume":"46","author":"C De Wagter","year":"2021","journal-title":"International Journal of Hydrogen Energy"},{"key":"ref75","first-page":"937","article-title":"Design, control, and visual navigation of the DelftaCopter VTOL tail-sitter UAV","volume":"35","author":"C De Wagter","year":"2018","journal-title":"Deutsches Museum, 2022. Erstflug vor 50 Jahren: VTOL-Drohne Dornier Aerodyne"},{"key":"ref76","author":"Dhl","year":"2022","journal-title":"DHL Drone Delivery And Parcelcopter Technology | Discover DHL"},{"key":"ref77","article-title":"Dynamics and control of tailless vectored-thrust VTOL in hover-to-forward transition","volume":"164","author":"W Di","year":"2025","journal-title":"Aerospace Science and Technology"},{"key":"ref78","doi-asserted-by":"crossref","first-page":"5882","DOI":"10.1109\/CDC.2006.377256","article-title":"Robust H? gain-scheduled conversion for a tilt-wing rotorcraft","author":"J J Dickeson","year":"2006","journal-title":"Proceedings of the 45th IEEE Conference on Decision and Control"},{"key":"ref79","doi-asserted-by":"crossref","first-page":"6486","DOI":"10.1109\/CDC.2005.1583202","article-title":"H? hover-to-cruise conversion for a tiltwing rotorcraft","author":"J J Dickeson","year":"2005","journal-title":"Proceedings of the 44th IEEE Conference on Decision and Control"},{"key":"ref80","first-page":"1","author":"J Diebel","year":"2006","journal-title":"Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors"},{"key":"ref81","first-page":"2","article-title":"Survey of Simulators for Aerial Robots: An Overview and In-Depth Systematic Comparisons","author":"C A Dimmig","year":"2024","journal-title":"IEEE Robotics & Automation Magazine"},{"key":"ref82","doi-asserted-by":"crossref","DOI":"10.1016\/j.ast.2021.107035","article-title":"Review of designs and flight control techniques of hybrid and convertible VTOL UAVs","volume":"118","author":"G J Ducard","year":"2021","journal-title":"Aerospace Science and Technology"},{"key":"ref83","doi-asserted-by":"crossref","first-page":"11","DOI":"10.1016\/j.micpro.2018.05.002","article-title":"A survey of Open-Source UAV flight controllers and flight simulators","volume":"61","author":"E Ebeid","year":"2018","journal-title":"Microprocessors and Microsystems"},{"key":"ref84","doi-asserted-by":"crossref","first-page":"603","DOI":"10.1146\/annurev-control-042820-124658","article-title":"Autonomous Airborne Wind Energy Systems: Accomplishments and Challenges. Annual Review of Control","volume":"5","author":"L Fagiano","year":"2022","journal-title":"Robotics, and Autonomous Systems"},{"key":"ref85","doi-asserted-by":"crossref","first-page":"1741","DOI":"10.3182\/20080706-5-KR-1001.00298","article-title":"Asymptotic Stability of Hierarchical Inner-Outer Loop-Based Flight Controllers","volume":"41","author":"I Fantoni","year":"2008","journal-title":"IFAC Proceedings Volumes"},{"key":"ref86","doi-asserted-by":"crossref","first-page":"398","DOI":"10.1109\/ICUAS.2013.6564714","article-title":"Dynamic flight modeling of a multi-mode flying wing quadrotor aircraft","author":"P Ferrell","year":"2013","journal-title":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)"},{"key":"ref87","doi-asserted-by":"crossref","first-page":"2228","DOI":"10.1080\/00207179.2013.810345","article-title":"Model-free control","volume":"86","author":"M Fliess","year":"2013","journal-title":"International Journal of Control"},{"key":"ref88","doi-asserted-by":"crossref","first-page":"789","DOI":"10.1109\/ICUAS.2013.6564761","article-title":"Transition flight control of the quad-tilting rotor convertible MAV","author":"G Flores","year":"2013","journal-title":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)"},{"key":"ref89","doi-asserted-by":"crossref","first-page":"457","DOI":"10.1007\/s10846-011-9589-x","article-title":"Quad-Tilting Rotor Convertible MAV: Modeling and Real-Time Hover Flight Control","volume":"65","author":"G R Flores","year":"2012","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"ref90","doi-asserted-by":"crossref","DOI":"10.2514\/6.2011-6637","article-title":"High-Fidelity Modeling and Control of a Twin Helicopter Rotor Tailsitter","author":"J Forshaw","year":"2011","journal-title":"AIAA Guidance, Navigation, and Control Conference"},{"key":"ref91","doi-asserted-by":"crossref","DOI":"10.2514\/6.2012-4697","article-title":"Transitional Control Architecture, Methodology, and Robustness for a Twin Helicopter Rotor Tailsitter","author":"J Forshaw","year":"2012","journal-title":"AIAA Guidance, Navigation, and Control Conference"},{"key":"ref92","doi-asserted-by":"crossref","first-page":"4134","DOI":"10.1109\/ICRA.2019.8793467","article-title":"Fault-tolerant Flight Control of a VTOL Tailsitter UAV","author":"S Fuhrer","year":"2019","journal-title":"2019 International Conference on Robotics and Automation (ICRA)"},{"key":"ref93","doi-asserted-by":"crossref","DOI":"10.3390\/electronics8020208","article-title":"Motion Equations and Attitude Control in the Vertical Flight of a VTOL Bi-Rotor UAV","volume":"8","author":"S Garcia-Nieto","year":"2019","journal-title":"Electronics"},{"key":"ref94","doi-asserted-by":"crossref","first-page":"1478","DOI":"10.1109\/ACC.2013.6580045","article-title":"Open source autopilot for academic research -The Paparazzi system","author":"B Gati","year":"2013","journal-title":"2013 American Control Conference"},{"key":"ref95","doi-asserted-by":"crossref","first-page":"565","DOI":"10.1017\/S0001924000000397","article-title":"The Fairey Rotodyne -technology before its time?","volume":"108","author":"D Gibbings","year":"2004","journal-title":"The Aeronautical Journal"},{"key":"ref96","author":"C Gmbh","year":"2024","journal-title":"CycloTech"},{"key":"ref97","article-title":"Classical Mechanics","author":"H Goldstein","year":"2002","journal-title":"Control Systems: Principles and Design"},{"key":"ref98","author":"L Gr\ufffdne","year":"2017","journal-title":"Nonlinear Model Predictive Control. Communications and Control Engineering"},{"key":"ref99","doi-asserted-by":"crossref","first-page":"160","DOI":"10.1109\/ICUAS.2017.7991420","article-title":"Development and experimental verification of a hybrid vertical take-off and landing (VTOL) unmanned aerial vehicle(UAV)","author":"H Gu","year":"2017","journal-title":"2017 International Conference on Unmanned Aircraft Systems (ICUAS)"},{"key":"ref100","article-title":"Review of Unmanned Aircraft System (UAS)","author":"S G Gupta","year":"2013","journal-title":"SSRN Electronic Journal"},{"key":"ref101","doi-asserted-by":"crossref","first-page":"1348","DOI":"10.2514\/1.G002168","article-title":"Unified Velocity Control and Flight State Transition of Unmanned Tilt-Wing Aircraft","volume":"40","author":"P Hartmann","year":"2017","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"ref102","doi-asserted-by":"crossref","DOI":"10.1016\/j.ast.2021.106571","article-title":"A computational fluid dynamic acoustic investigation of a tiltwing eVTOL concept aircraft","volume":"111","author":"R J Higgins","year":"2021","journal-title":"Aerospace Science and Technology"},{"key":"ref103","doi-asserted-by":"crossref","first-page":"395","DOI":"10.1260\/1756-8293.7.4.395","article-title":"Design and Control of an Unmanned Aerial Vehicle for Autonomous Parcel Delivery with Transition from Vertical Take-off to Forward Flight -VertiKUL, a Quadcopter Tailsitter","volume":"7","author":"M Hochstenbach","year":"2015","journal-title":"International Journal of Micro Air Vehicles"},{"key":"ref104","doi-asserted-by":"crossref","first-page":"298","DOI":"10.1002\/oca.939","article-title":"ACADO toolkit-An open-source framework for automatic control and dynamic optimization","volume":"32","author":"B Houska","year":"2011","journal-title":"Optimal Control Applications and Methods"},{"key":"ref105","doi-asserted-by":"crossref","DOI":"10.1007\/978-1-84628-615-5","author":"A Isidori","year":"1995","journal-title":"Nonlinear Control Systems"},{"key":"ref106","first-page":"1132","article-title":"Staging energy sources to extend flight time of a multirotor UAV","author":"K P Jain","year":"2020","journal-title":"2020 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"ref107","article-title":"Aeroelastic and aeroservoelastic stability of the BA 609","author":"T P Jr","year":"1999","journal-title":"th European Rotorcraft Forum"},{"key":"ref108","doi-asserted-by":"crossref","DOI":"10.2514\/6.2013-4992","article-title":"A Comprehensive Flight Control Design and Experiment of a Tail-Sitter UAV","author":"Y Jung","year":"2013","journal-title":"AIAA Guidance, Navigation, and Control (GNC) Conference"},{"key":"ref109","doi-asserted-by":"crossref","first-page":"137","DOI":"10.1007\/s10846-011-9585-1","article-title":"Development and Application of Controller for Transition Flight of Tail-Sitter UAV","volume":"65","author":"Y Jung","year":"2012","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"ref110","doi-asserted-by":"crossref","first-page":"1185","DOI":"10.1016\/0005-1098(95)00026-S","article-title":"A velocity algorithm for the implementation of gain-scheduled controllers","volume":"31","author":"I Kaminer","year":"1995","journal-title":"Automatica"},{"key":"ref111","first-page":"44","article-title":"A systematic design approach for an unconventional UAV J-Lion with extensible morphing wings","volume":"23","author":"Y Ke","year":"2016","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"ref112","doi-asserted-by":"crossref","first-page":"8144","DOI":"10.1109\/CDC.2005.1583480","article-title":"Modeling and control of a small autonomous aircraft having two tilting rotors","author":"F Kendoul","year":"2005","journal-title":"Proceedings of the 44th IEEE Conference on Decision and Control"},{"key":"ref113","author":"Kestrel","year":"2016","journal-title":"VTOL UAV -'Kestrel' | Design Show"},{"key":"ref114","author":"H K Khalil","year":"2002","journal-title":"Nonlinear Systems"},{"key":"ref115","doi-asserted-by":"crossref","first-page":"11697","DOI":"10.1109\/LRA.2022.3205450","article-title":"Back-Transition Control With Large Deceleration for a Dual Propulsion VTOL UAV Based on Its Maneuverability","volume":"7","author":"C Kikumoto","year":"2022","journal-title":"IEEE Robotics and Automation Letters"},{"key":"ref116","doi-asserted-by":"crossref","DOI":"10.2514\/6.2007-6460","article-title":"Trajectory Tracking Controller Design Using Neural Networks for Tiltrotor UAV","author":"B M Kim","year":"2007","journal-title":"AIAA Guidance, Navigation and Control Conference and Exhibit"},{"key":"ref117","year":"2007"},{"key":"ref118","doi-asserted-by":"crossref","first-page":"277","DOI":"10.20965\/jrm.2009.p0277","article-title":"Hovering Control of a Tail-Sitter VTOL Aerial Robot","volume":"21","author":"K Kita","year":"2009","journal-title":"Journal of Robotics and Mechatronics"},{"key":"ref119","first-page":"2149","article-title":"Design and use paradigms for gazebo, an opensource multi-robot simulator","author":"N Koenig","year":"2004","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"ref120","first-page":"94","article-title":"Modelling and Control of a Vertical Take-Off and Landing Fixed-Wing Unmanned Aerial Vehicle. Master's thesis","volume":"26","author":"T Kringeland","year":"2010","journal-title":"IEEE Transactions on Robotics"},{"key":"ref121","doi-asserted-by":"crossref","DOI":"10.1515\/9780691211701","author":"J B Kuipers","year":"1999","journal-title":"Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace and Virtual Reality"},{"key":"ref122","article-title":"Vertical flight path and speed control autopilot design using total energy principles","author":"A Lambregts","year":"1983","journal-title":"Guidance and Control Conference, American Institute of Aeronautics and Astronautics"},{"key":"ref123","author":"A A Lambregts","year":"1983","journal-title":"Operational Aspects of the Integrated Vertical Flight Path and Speed Control System"},{"key":"ref124","doi-asserted-by":"crossref","first-page":"5420","DOI":"10.1109\/CDC.2010.5717652","article-title":"Geometric tracking control of a quadrotor UAV on","author":"T Lee","year":"2010","journal-title":"th IEEE Conference on Decision and Control (CDC)"},{"key":"ref125","year":"2017","journal-title":"The Control Handbook: Control System Fundamentals"},{"key":"ref126","author":"B Li","year":"2019","journal-title":"Model Predictive Hover Control and Transition Optimization for a Tail-Sitter Unmanned Aerial Vehicle"},{"key":"ref127","doi-asserted-by":"crossref","first-page":"2534","DOI":"10.1109\/TMECH.2020.2983255","article-title":"Transition Optimization for a VTOL Tail-sitter UAV","volume":"25","author":"B Li","year":"2020","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"ref128","doi-asserted-by":"crossref","first-page":"348","DOI":"10.1016\/j.ast.2018.08.021","article-title":"Nonlinear robust control of tail-sitter aircrafts in flight mode transitions","volume":"81","author":"Z Li","year":"2018","journal-title":"Aerospace Science and Technology"},{"key":"ref129","author":"Lilium Gmbh","year":"2024","journal-title":"Lilium"},{"key":"ref130","doi-asserted-by":"crossref","first-page":"4102","DOI":"10.1109\/TSMC.2019.2931482","article-title":"Robust Time-Varying Formation Control for Tail-Sitters in Flight Mode Transitions","volume":"51","author":"D Liu","year":"2021","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems"},{"key":"ref131","doi-asserted-by":"crossref","first-page":"2023","DOI":"10.1109\/TAES.2018.2880888","article-title":"Robust Tracking Control for Tail-Sitters in Flight Mode Transitions","volume":"55","author":"H Liu","year":"2019","journal-title":"IEEE Transactions on Aerospace and Electronic Systems"},{"key":"ref132","doi-asserted-by":"crossref","first-page":"158","DOI":"10.1080\/00207170150203499","article-title":"On the problem of robust and perfect tracking for linear systems with external disturbances","volume":"74","author":"K Liu","year":"2001","journal-title":"International Journal of Control"},{"key":"ref133","doi-asserted-by":"crossref","first-page":"696","DOI":"10.1016\/j.ast.2019.06.028","article-title":"Observer-based linear parameter varying control design with unmeasurable varying parameters under sensor faults for quad-tilt rotor unmanned aerial vehicle","volume":"92","author":"Z Liu","year":"2019","journal-title":"Aerospace Science and Technology"},{"key":"ref134","doi-asserted-by":"crossref","first-page":"195","DOI":"10.1142\/S2301385019500067","article-title":"Design of a Hybrid Aerial Robot with Multi-Mode Structural Efficiency and Optimized Mid-Air Transition","volume":"7","author":"J E Low","year":"2019","journal-title":"Unmanned Systems"},{"key":"ref135","doi-asserted-by":"crossref","first-page":"6389","DOI":"10.1109\/ICRA.2017.7989755","article-title":"Design and dynamic analysis of a Transformable Hovering Rotorcraft (THOR)","author":"J E Low","year":"2017","journal-title":"2017 IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"ref136","doi-asserted-by":"crossref","first-page":"241","DOI":"10.1177\/02783649231207655","article-title":"Trajectory generation and tracking control for aggressive tail-sitter flights","volume":"43","author":"G Lu","year":"2024","journal-title":"The International Journal of Robotics Research"},{"key":"ref137","first-page":"5135","article-title":"A hierarchical control approach for a quadrotor tail-sitter VTOL UAV and experimental verification","author":"X Lyu","year":"2017","journal-title":"2017 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Singapore"},{"key":"ref138","doi-asserted-by":"crossref","first-page":"303","DOI":"10.1177\/1756829318813633","article-title":"Simulation and flight experiments of a quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle with wide flight envelope","volume":"10","author":"X Lyu","year":"2018","journal-title":"International Journal of Micro Air Vehicles"},{"key":"ref139","author":"M D Maisel","year":"2000","journal-title":"The History of the XV-15 Tilt Rotor Research Aircraft: From Concept to Flight. 17, National Aeronautics and Space Administration"},{"key":"ref140","doi-asserted-by":"crossref","DOI":"10.2514\/6.2019-1918","article-title":"Flight Controller Design Using \ufffdsynthesis for Quad Tilt-Wing UAV","author":"K Masuda","year":"2019","journal-title":"AIAA Scitech 2019 Forum, American Institute of Aeronautics and Astronautics"},{"key":"ref141","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1109\/ROBOT.2010.5509183","article-title":"A hovering control strategy for a tailsitter VTOL UAV that increases stability against large disturbance","author":"T Matsumoto","year":"2010","journal-title":"2010 IEEE International Conference on Robotics and Automation"},{"key":"ref142","author":"Maverix","year":"2018","journal-title":"IMAV 2018 -RWTH AACHEN UNIVERSITY FSD -English"},{"key":"ref143","doi-asserted-by":"crossref","first-page":"2073","DOI":"10.2514\/1.G008002","article-title":"An Aerodynamic Feedforward-Feedback Architecture for Tailsitter Control in Hybrid Flight Regimes","volume":"47","author":"K F Mcintosh","year":"2024","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"ref144","doi-asserted-by":"crossref","first-page":"6235","DOI":"10.1109\/ICRA.2015.7140074","article-title":"PX4: A node-based multithreaded open source robotics framework for deeply embedded platforms","author":"L Meier","year":"2015","journal-title":"2015 IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"ref145","doi-asserted-by":"crossref","first-page":"2992","DOI":"10.1109\/ICRA.2011.5980229","article-title":"PIX-HAWK: A system for autonomous flight using onboard computer vision","author":"L Meier","year":"2011","journal-title":"2011 IEEE International Conference on Robotics and Automation"},{"key":"ref146","doi-asserted-by":"crossref","first-page":"2520","DOI":"10.1109\/ICRA.2011.5980409","article-title":"Minimum snap trajectory generation and control for quadrotors","author":"D Mellinger","year":"2011","journal-title":"2011 IEEE International Conference on Robotics and Automation"},{"key":"ref147","first-page":"1222","article-title":"Towards gain-scheduled H? control design for a tilt-wing aircraft","author":"D R Mix","year":"2004","journal-title":"43rd IEEE Conference on Decision and Control (CDC)"},{"key":"ref148","article-title":"Modeling and control of convertible Micro Air Vehicles","author":"P Morin","year":"2015","journal-title":"2015 10th International Workshop on Robot Motion and Control"},{"key":"ref149","first-page":"188","author":"Poznan Ieee"},{"key":"ref150","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1146\/annurev-control-042920-012045","article-title":"Design and Control of Drones","volume":"5","author":"M W Mueller","year":"2022","journal-title":"Robotics, and Autonomous Systems"},{"key":"ref151","article-title":"Transition Flight of Quad Tilt Wing VTOL UAV","author":"K Muraoka","year":"2012","journal-title":"th International Congress of the Aeronautical Sciences"},{"key":"ref152","doi-asserted-by":"crossref","first-page":"870","DOI":"10.1016\/j.automatica.2011.01.027","article-title":"Optimal transition maneuvers for a class of V\/STOL aircraft","volume":"47","author":"R Naldi","year":"2011","journal-title":"Automatica"},{"key":"ref153","doi-asserted-by":"crossref","first-page":"46753","DOI":"10.1109\/ACCESS.2020.2978578","article-title":"Tri-Copter UAV With Individually Tilted Main Wings for Flight Maneuvers","volume":"8","author":"K J Nam","year":"2020","journal-title":"IEEE Access"},{"key":"ref154","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1016\/j.arcontrol.2019.08.004","article-title":"Position and attitude control of multirotor aerial vehicles: A survey","volume":"48","author":"T P Nascimento","year":"1924","journal-title":"Annual Reviews in Control"},{"key":"ref155","article-title":"Optimization-Based Control Design for Challenging Maneuvers in Nonholonomic Vehicles","author":"H T Nguyen","year":"2025","journal-title":"| National Air and Space Museum"},{"key":"ref156","first-page":"77","author":"K Nonami","year":"2010","journal-title":"Development of Autonomous Quad-Tilt-Wing (QTW) Unmanned Aerial Vehicle: Design, Modeling, and Control"},{"key":"ref157","first-page":"1627","article-title":"Motion planning for hybrid UAVs in dense urban environments","author":"B Nurimbetov","year":"2017","journal-title":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)"},{"key":"ref158","doi-asserted-by":"crossref","first-page":"71","DOI":"10.23919\/ACC.2019.8814993","article-title":"Full Model-Free Control Architecture for Hybrid UAVs","author":"O Barth","year":"2019","journal-title":"2019 American Control Conference (ACC)"},{"key":"ref159","author":"Olszanecki Barth","year":"2020","journal-title":"Towards a Unified Model-Free Control Architecture for Tailsitter Micro Air Vehicles: Flight Simulation Analysis and Experimental Flights"},{"key":"ref160","doi-asserted-by":"crossref","first-page":"317","DOI":"10.1109\/ICRA.2013.6630594","article-title":"Development of a quad rotor tail-sitter VTOL UAV without control surfaces and experimental verification","author":"A Oosedo","year":"2013","journal-title":"2013 IEEE International Conference on Robotics and Automation"},{"key":"ref161","doi-asserted-by":"crossref","first-page":"1143","DOI":"10.1007\/s10514-016-9599-4","article-title":"Optimal transition from hovering to level-flight of a quadrotor tail-sitter UAV","volume":"41","author":"A Oosedo","year":"2017","journal-title":"Autonomous Robots"},{"key":"ref162","doi-asserted-by":"crossref","first-page":"326","DOI":"10.1080\/01691864.2015.1134344","article-title":"Large attitude change flight of a quad tilt rotor unmanned aerial vehicle","volume":"30","author":"A Oosedo","year":"2016","journal-title":"Advanced Robotics"},{"key":"ref163","author":"S R Osborne","year":"2007","journal-title":"Transitions Between Hover and Level Flight for a Tailsitter UAV. Master's thesis"},{"key":"ref164","article-title":"Control Concept of a Tiltwing UAV during Low Speed Manoeuvring","author":"T Ostermann","year":"2012","journal-title":"th International Congress of the Aeronautical Sciences"},{"key":"ref165","first-page":"1579","article-title":"Towards a high-end unmanned tri-TiltRotor: Design, modeling and hover control","author":"C Papachristos","year":"2012","journal-title":"th Mediterranean Conference on Control & Automation (MED)"},{"key":"ref166","doi-asserted-by":"crossref","first-page":"5425","DOI":"10.1109\/ICRA.2013.6631355","article-title":"Model predictive hoveringtranslation control of an unmanned tri-tiltrotor","author":"C Papachristos","year":"2013","journal-title":"2013 IEEE International Conference on Robotics and Automation"},{"key":"ref167","doi-asserted-by":"crossref","first-page":"2535","DOI":"10.1016\/j.jfranklin.2013.01.014","article-title":"Fault tolerant flight control system for the tilt-rotor UAV","volume":"350","author":"S Park","year":"2013","journal-title":"Journal of the Franklin Institute"},{"key":"ref168","doi-asserted-by":"crossref","DOI":"10.2514\/6.2004-4900","article-title":"A New Nonlinear Guidance Logic for Trajectory Tracking","author":"S Park","year":"2004","journal-title":"AIAA Guidance, Navigation, and Control Conference and Exhibit"},{"key":"ref169","doi-asserted-by":"crossref","DOI":"10.1016\/j.ast.2021.107143","article-title":"Understanding the control characteristics of electric vertical take-off and landing (eVTOL) aircraft for urban air mobility","volume":"125","author":"M D Pavel","year":"2022","journal-title":"Aerospace Science and Technology"},{"key":"ref170","first-page":"46","article-title":"Systems design and implementation with jerk-optimized trajectory generation for UAV calligraphy","volume":"30","author":"S K Phang","year":"2004","journal-title":"Mechanics of Flight"},{"key":"ref171","doi-asserted-by":"crossref","DOI":"10.1016\/j.tre.2020.102090","article-title":"Air taxi service for urban mobility: A critical review of recent developments, future challenges, and opportunities","volume":"143","author":"S Rajendran","year":"2020","journal-title":"Transportation Research Part E: Logistics and Transportation Review"},{"key":"ref172","volume":"85","author":"R C Van 't Veld","year":"2016","journal-title":"Incremental Nonlinear Dynamic Inversion Flight Control | TU Delft Repository. Master's thesis"},{"key":"ref173","author":"R Ritz","year":"2017","journal-title":"Enhancing the Capabilities of Flying Machines: Cooperative Payload Carrying, Onboard Learning, and Tailsitter Control"},{"key":"ref174","doi-asserted-by":"crossref","first-page":"2683","DOI":"10.1109\/LRA.2019.2914340","article-title":"Attitude and Cruise Control of a VTOL Tiltwing UAV","volume":"4","author":"D Rohr","year":"2019","journal-title":"IEEE Robotics and Automation Letters"},{"key":"ref175","doi-asserted-by":"crossref","first-page":"5776","DOI":"10.1109\/LRA.2021.3084888","article-title":"Nonlinear Model Predictive Velocity Control of a VTOL Tiltwing UAV","volume":"6","author":"D Rohr","year":"2021","journal-title":"IEEE Robotics and Automation Letters"},{"key":"ref176","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1016\/j.paerosci.2018.03.007","article-title":"A survey of hybrid Unmanned Aerial Vehicles","volume":"98","author":"A S Saeed","year":"2018","journal-title":"Progress in Aerospace Sciences"},{"key":"ref177","doi-asserted-by":"crossref","first-page":"806","DOI":"10.1109\/ICUAS.2015.7152365","article-title":"A review on the platform design, dynamic modeling and control of hybrid UAVs","author":"A S Saeed","year":"2015","journal-title":"2015 International Conference on Unmanned Aircraft Systems (ICUAS)"},{"key":"ref178","doi-asserted-by":"crossref","first-page":"1445","DOI":"10.1109\/ICUAS.2019.8797952","article-title":"Pitching moment analysis and adjustment for tilt-wing UAV in VTOL mode","author":"L M Sanchez-Rivera","year":"2019","journal-title":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)"},{"key":"ref179","doi-asserted-by":"crossref","first-page":"862","DOI":"10.1109\/ICUAS48674.2020.9214061","article-title":"Transition Flight Dynamics of a Dual Tilt-Wing UAV*","author":"L M Sanchez-Rivera","year":"2020","journal-title":"2020 International Conference on Unmanned Aircraft Systems (ICUAS)"},{"key":"ref180","doi-asserted-by":"crossref","first-page":"5208","DOI":"10.1109\/CDC.2017.8264431","article-title":"A discrete robust adaptive control of a tilt-rotor UAV for an enlarged flight envelope","author":"M A Santos","year":"2017","journal-title":"IEEE 56th Annual Conference on Decision and Control (CDC)"},{"key":"ref181","doi-asserted-by":"crossref","first-page":"1071","DOI":"10.2514\/1.G000263","article-title":"Flight Controller Design and Demonstration of Quad-Tilt-Wing Unmanned Aerial Vehicle","volume":"38","author":"M Sato","year":"2015","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"ref182","doi-asserted-by":"crossref","first-page":"407","DOI":"10.1146\/annurev-control-022823-031353","article-title":"Urban Air Mobility Research Challenges and Opportunities","volume":"8","author":"R Sengupta","year":"2025","journal-title":"Robotics, and Autonomous Systems"},{"key":"ref183","doi-asserted-by":"crossref","first-page":"48572","DOI":"10.1109\/ACCESS.2019.2909530","article-title":"Unmanned Aerial Vehicles (UAVs): A Survey on Civil Applications and Key Research Challenges","volume":"7","author":"H Shakhatreh","year":"2019","journal-title":"IEEE Access"},{"key":"ref184","first-page":"439","article-title":"A survey of attitude representations","volume":"41","author":"M D Shuster","year":"1993","journal-title":"Journal of Astronautical Sciences"},{"key":"ref185","doi-asserted-by":"crossref","first-page":"1732","DOI":"10.2514\/1.49978","article-title":"Robust Flight Control Using Incremental Nonlinear Dynamic Inversion and Angular Acceleration Prediction","volume":"33","author":"S Sieberling","year":"2010","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"ref186","doi-asserted-by":"crossref","first-page":"1222","DOI":"10.1109\/ISCC47284.2019.8969571","article-title":"Control validation with software-in-the-loop for a fixed-wing vertical takeoff and landing unmanned aerial vehicle with multiple flight stages","author":"N B F Silva","year":"2019","journal-title":"2019 IEEE Symposium on Computers and Communications (ISCC)"},{"key":"ref187","doi-asserted-by":"crossref","first-page":"328","DOI":"10.1007\/s40313-018-0375-x","article-title":"Dynamic Inversion and Gain-Scheduling Control for an Autonomous Aerial Vehicle with Multiple Flight Stages","volume":"29","author":"N B F Silva","year":"2018","journal-title":"Journal of Control, Automation and Electrical Systems"},{"key":"ref188","first-page":"1","article-title":"Versatile, modular, extensible vtol aerial platform with autonomous flight mode transitions","author":"P Sinha","year":"2012","journal-title":"SKYPULL SA, 2024. THE SKYPULL TECHNOLOGY"},{"key":"ref189","doi-asserted-by":"crossref","first-page":"1254","DOI":"10.1109\/MED.2016.7536050","article-title":"Modelling and control of a Tilt-Wing Unmanned Aerial Vehicle","author":"E Small","year":"2016","journal-title":"24th Mediterranean Conference on Control and Automation (MED)"},{"key":"ref190","doi-asserted-by":"crossref","first-page":"274","DOI":"10.2514\/1.G004520","article-title":"Incremental Control and Guidance of Hybrid Aircraft Applied to a Tailsitter UAV","volume":"43","author":"E J J Smeur","year":"2020","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"ref191","article-title":"A Review of quadrotor UAV: Control and SLAM methodologies ranging from conventional to innovative approaches","volume":"161","author":"G Sonug\ufffdr","year":"2023","journal-title":"Robotics and Autonomous Systems"},{"key":"ref192","article-title":"Configuration Design of a Canard Configured Tail Sitter Unmanned Air Vehicle Using Multidisciplinary Optimization","author":"R H Stone","year":"1999","journal-title":"Civilian Applications, in: UAV Australia Conference"},{"key":"ref193","first-page":"4105","article-title":"Flying Cars and eVTOLs-Technology Advancements, Powertrain Architectures, and Design","volume":"124","author":"W Su","year":"2022","journal-title":"IEEE Transactions on Transportation Electrification"},{"key":"ref194","doi-asserted-by":"crossref","first-page":"1049","DOI":"10.2514\/1.G003201","article-title":"Biplane-Quadrotor Tail-Sitter UAV: Flight Dynamics and Control","volume":"41","author":"S Swarnkar","year":"2018","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"ref195","doi-asserted-by":"crossref","first-page":"2332","DOI":"10.2514\/1.G006645","article-title":"Global Incremental Flight Control for Agile Maneuvering of a Tailsitter Flying Wing","volume":"45","author":"E Tal","year":"2022","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"ref196","journal-title":"TwingTec AG, 2024. Home -TwingTec"},{"key":"ref197","article-title":"Canada Aviation Museum Aircraft: The Design and Development History of the Canadair CL-84 V\/STOL Tilt-Wing Aircraft","author":"B Upton","year":"2014","journal-title":"Canada Aviation Museum Aircraft, Canada Aviation Museum"},{"key":"ref198","year":"2015","journal-title":"Handbook of Unmanned Aerial Vehicles"},{"key":"ref199","author":"R Vepa","year":"2015","journal-title":"Flight Dynamics, Simulation, and Control"},{"key":"ref200","doi-asserted-by":"crossref","first-page":"3939","DOI":"10.1109\/ICRA.2017.7989454","article-title":"Modelbased transition optimization for a VTOL tailsitter","author":"S Verling","year":"2017","journal-title":"2017 IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"ref201","first-page":"3006","article-title":"Full Attitude Control of a VTOL tailsitter UAV","author":"S Verling","year":"2016","journal-title":"Vertical Aerospace, 2024. Vertical Aerospace \ufffd Pioneering Electric Aviation"},{"key":"ref202","year":"2022","journal-title":"Home -current"},{"key":"ref203","author":"Gmbh Volocopter","year":"2024","journal-title":"VoloRegion -connecting communities in flight"},{"key":"ref204","first-page":"1053","article-title":"Development of autonomous hybrid UAV U-Lion with VTOL and cruise flying capabilities","author":"K Wang","year":"2016","journal-title":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)"},{"key":"ref205","doi-asserted-by":"crossref","DOI":"10.1007\/s11432-016-9002-x","article-title":"Autonomous reconfigurable hybrid tail-sitter UAV U-Lion","volume":"60","author":"K Wang","year":"2017","journal-title":"Science China Information Sciences"},{"key":"ref206","first-page":"28","article-title":"Vision-aided tracking of a moving ground vehicle with a hybrid UAV","author":"K Wang","year":"2017","journal-title":"2017 13th IEEE International Conference on Control & Automation (ICCA)"},{"key":"ref207","doi-asserted-by":"crossref","first-page":"96","DOI":"10.2514\/2.4854","article-title":"Rapid Multitarget Acquisition and Pointing Control of Agile Spacecraft","volume":"25","author":"B Wie","year":"2002","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"ref208","doi-asserted-by":"crossref","first-page":"375","DOI":"10.2514\/3.20418","article-title":"Quarternion feedback regulator for spacecraft eigenaxis rotations","volume":"12","author":"B Wie","year":"1989","journal-title":"Journal of Guidance, Control, and Dynamics"},{"key":"ref209","doi-asserted-by":"crossref","first-page":"4175","DOI":"10.23919\/ACC45564.2020.9147931","article-title":"State-Dependent LQR Control for a Tilt-Rotor UAV","author":"J Willis","year":"2020","journal-title":"2020 American Control Conference (ACC)"},{"key":"ref210","author":"J B Willis","year":"2021","journal-title":"Trajectory Generation and Tracking Control for Winged Electric Vertical Takeoff and Landing Aircraft. Master's thesis"},{"key":"ref211","author":"Windlift","year":"2023","journal-title":"Windlift"},{"key":"ref212","year":"2024","journal-title":"Service Terms and Conditions -Delivery"},{"key":"ref213","author":"Wingcopter","year":"2024","journal-title":"Success Stories -Wingcopter"},{"key":"ref214","author":"A G Wingtra","year":"2024","journal-title":"WingtraOne GEN II -Mapping drone for fast and accurate survey data"},{"key":"ref215","author":"X","year":"2020"},{"key":"ref216","author":"Xpeng Aeroht","year":"2022","journal-title":"XPENG AEROHT | Bridge People to the Skies"},{"key":"ref217","doi-asserted-by":"crossref","first-page":"542","DOI":"10.1109\/ICUAS.2019.8797947","article-title":"Full Attitude Control of an Efficient Quadrotor Tail-sitter VTOL UAV with Flexible Modes","author":"W Xu","year":"2019","journal-title":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)"},{"key":"ref218","article-title":"Transition Control of a Tilt-Rotor VTOL UAV","author":"Y T Yeo","year":"2018","journal-title":"AIAA Guidance, Navigation, and Control Conference"},{"key":"ref219","doi-asserted-by":"crossref","first-page":"267","DOI":"10.1177\/0142331216645179","article-title":"Fault tolerant heading control system design for Turac unmanned aerial vehicle","volume":"39","author":"B Yuksek","year":"2017","journal-title":"Transactions of the Institute of Measurement and Control"},{"key":"ref220","doi-asserted-by":"crossref","first-page":"83","DOI":"10.1007\/s10846-015-0325-9","article-title":"Transition Flight Modeling of a Fixed-Wing VTOL UAV","volume":"84","author":"B Yuksek","year":"2016","journal-title":"Journal of Intelligent & Robotic Systems"},{"key":"ref221","author":"C Zeng","year":"2020"},{"key":"ref222","article-title":"A new tilt-arm transitioning unmanned aerial vehicle: Introduction and conceptual design","volume":"99","journal-title":"Aerospace Science and Technology"},{"key":"ref223","doi-asserted-by":"crossref","DOI":"10.2514\/6.2017-1561","article-title":"Modeling and Flight Control Simulation of a Quadrotor Tailsitter VTOL UAV","author":"F Zhang","year":"2017","journal-title":"AIAA Modeling and Simulation Technologies Conference, American Institute of Aeronautics and Astronautics"},{"key":"ref224","first-page":"4835","article-title":"A unified control method for quadrotor tail-sitter UAVs in all flight modes: Hover, transition, and level flight","author":"J Zhou","year":"2017","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"},{"key":"ref225","doi-asserted-by":"crossref","first-page":"104","DOI":"10.1016\/j.conengprac.2019.104125","article-title":"Position control of a tail-sitter UAV using successive linearization based model predictive control","volume":"91","author":"W Zhou","year":"2019","journal-title":"Control Engineering Practice"},{"key":"ref226","author":"Zipline","year":"2024","journal-title":"Zipline Fact Sheet | Zipline Instant Delivery & Logistics"}],"container-title":[],"original-title":[],"deposited":{"date-parts":[[2026,1,26]],"date-time":"2026-01-26T23:47:14Z","timestamp":1769471234000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.ssrn.com\/abstract=6137518"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026]]},"references-count":226,"URL":"https:\/\/doi.org\/10.2139\/ssrn.6137518","relation":{},"subject":[],"published":{"date-parts":[[2026]]},"subtype":"preprint"}}