Position Tracking for VTOL UAVs
The trajectory tracking control problem, in SE(3), of a single VTOL aircraft is discussed in this chapter. The main objective is to present a new control design method for this class of under-actuated systems that will constitute an important step towards the design of the formation control schemes discussed in the next chapters. Exploiting the cascade property of the translational and rotational dynamics, a multistage constructive control design procedure is proposed. Instrumental auxiliary systems are introduced to remove the requirement of the linear-velocity measurement and to achieve tracking for any initial translational states.
KeywordsTracking Error Trajectory Tracking Auxiliary System Input Torque Auxiliary Input
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