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Full envelope dynamics modeling and simulation for tail-sitter hybrid UAVs

This paper presents a comprehensive modeling approach for tail-sitter hybrid UAVs featured by vertical take-off and landing (VTOL) and cruise flight capabilities. The modeling approach includes all essential components, such as full angle of attack envelope wing and fuselage aerodynamics, sideslip wind effect and actuator dynamics. A unified formulation comprising all model components is derived to constitute the core of our simulation environment. Simulation results show that our approach is effective to predict flight dynamics and can serve as the testbed for real implementations.