Tilt-rotor Tailsitter Global Acceleration Control: Behavioural Cloning of a Nonlinear Model Predictive Controller

Capable of both vertical take-off and landing and forward flight, tail-sitters are a versatile class of UAVs with a large range of potential applications. A variant of tailsitters using tilt-rotors instead of ailerons for pitch and roll control has been proposed to mitigate the reduced control authority at low to zero velocities. The control of...