Position tracking for VTOL UAVs

Abdelkader Abdessameud, Abdelhamid Tayebi

Research output: Chapter in Book/Report/Conference proceedingChapter


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.

Original languageEnglish (US)
Title of host publicationAdvances in Industrial Control
PublisherSpringer International Publishing
Number of pages20
StatePublished - Jan 1 2013

Publication series

NameAdvances in Industrial Control
ISSN (Print)1430-9491
ISSN (Electronic)2193-1577

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Automotive Engineering
  • Aerospace Engineering
  • Industrial and Manufacturing Engineering


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