Abstract: This paper presents an autonomous path-following control architecture for a tilt-wing, distributed electric propulsion, vertical take-off and landing unmanned aerial system in hover mode and presents indoor flight test results. The test-bed vehicle is a subscale model with the same configuration as the NASA GL-10 aircraft. The control architecture consists of an inner-loop attitude controller, outer-loop trajecÂtory controller, and a trajectory generation scheme. The flight test results show …