Robust Global Trajectory Tracking for Underactuated VTOL Aerial Vehicles Using Inner-Outer Loop Control Paradigms

@article{Naldi2017RobustGT,
  title={Robust Global Trajectory Tracking for Underactuated VTOL Aerial Vehicles Using Inner-Outer Loop Control Paradigms},
  author={Roberto Naldi and Michele Furci and Ricardo G. Sanfelice and Lorenzo Marconi},
  journal={IEEE Transactions on Automatic Control},
  year={2017},
  volume={62},
  pages={97-112}
}
This paper proposes a feedback control strategy to let the dynamics of a class of under-actuated vertical take-off and landing (VTOL) aerial vehicle tracking a desired position and attitude trajectory globally with respect to the initial conditions. The proposed feedback controller is derived following an inner-outer loop control paradigm, namely by… CONTINUE READING