# Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector Sensing

arXiv: https://arxiv.org/abs/2003.07558 · HTML: https://mlsanity.com/paper/2003.07558/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Mar 2020.

## Built on by (most cited first, 3 of 3)

- [Neural-Fly Enables Rapid Learning for Agile Flight in Strong Winds](https://mlsanity.com/paper/2205.06908/) (2022)
- [Meta-Adaptive Nonlinear Control: Theory and Algorithms](https://mlsanity.com/paper/2106.06098/) (2021)
- [The Open Ant: A Robot Platform for Reinforcement Learning Research](https://mlsanity.com/paper/2607.18488/) (2026)

## Abstract (arXiv)

Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving high performance flight. In this paper, we present a composite adaptive nonlinear tracking controller for a fixed-wing VTOL. The method employs online adaptation of linear force models, and generates accurate estimation for wing and rotor forces in real-time based on information from a three-dimensional airflow sensor. The controller is implemented on a custom-built fixed-wing VTOL, which shows improved velocity tracking and force prediction during the transition stage from hover to forward flight, compared to baseline flight controllers.