Aerial systems, including electric vertical take-off and landing (eVTOL) vehicles with fixed-wing configurations, present distinct challenges across various flight phases, encompassing hover and the transition to aerodynamic wingborne flight. Effectively addressing these challenges necessitates a robust control framework, prominently featured in the incremental nonlinear dynamic inversion (INDI) approach. However, INDI may encounter constraints like effector saturation and suboptimal pseudoinverses. This paper explores a spectrum of control allocation methods to effectively mitigate these limitations. Additionally, the paper delves into real-world complexities, including sensor noise and stochastic effects. It introduces filtering and estimation techniques to ensure precise data estimations. The proposed methodologies and algorithms undergo rigorous assessment through nonlinear simulations, encompassing comprehensive 6-DOF flight mechanics, realistic sensor models, and the presence of uncertainties. The simulation results underscore the efficacy and applicability of the proposed approaches in addressing the intricate challenges encountered in dynamically controlling eVTOL aircraft with fixed-wing configurations.     «

Aerial systems, including electric vertical take-off and landing (eVTOL) vehicles with fixed-wing configurations, present distinct challenges across various flight phases, encompassing hover and the transition to aerodynamic wingborne flight. Effectively addressing these challenges necessitates a robust control framework, prominently featured in the incremental nonlinear dynamic inversion (INDI) approach. However, INDI may encounter constraints like effector saturation and suboptimal pseudoinver...     »