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This paper presents a controller for the transition maneuver of a tail-sitter drone. The tail-sitter model considers aerodynamic terms whereas the proposed controller considers the time-scale separation between drone attitude and position dynamics. The controller design is based on Lyapunov approach and linear saturation functions. Simulations experiments demonstrate the effectiveness of the derived theoretical results.

A Simple Controller for the Transition Maneuver of a Tail-Sitter Drone