VTOL UAV Transition Maneuver Using Incremental Nonlinear Dynamic Inversion

Figure 8

Flight states of Strategy 1.

(a) Three-axis velocity

(b) Kinematic angle

(c) Wind angle

(d) Body angle

(e) Control moments

(f) Vectored thrust in body axis

(g) Engine thrust

(h) Vectoring nozzle deflection

(i) Control surface deflection

(j) Percentage of aerodynamic control moments