VTOL UAV Transition Maneuver Using Incremental Nonlinear Dynamic Inversion

Table 1

Prototype basic data.

Item	Data
Running takeoff speed	15 m/s
Cruise speed	20 m/s
Vehicle length	1 m
Rear wing span	1.57 m
Vehicle weight	5 kg
Maximum engine thrust (single)	2.6 kg
Maximum lift fan thrust	3.8 kg
Flight range	6 km