Full state tracking and formation control for under-actuated VTOL UAVs

• Main Authors: Peng, Xiuhui, Guo, Kexin, Geng, Zhiyong
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2019
• Subjects: Coupled-attitude Based Scheme; Intermediate Attitude; DRNTU::Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/105156; http://hdl.handle.net/10220/48701; http://dx.doi.org/10.1109/ACCESS.2018.2889370
• Institution: Nanyang Technological University

In this paper, a coupled-attitude based trajectory tracking scheme is proposed to track both the position and attitude of under-actuated unmanned aerial vehicles, and its application on formation control is further demonstrated. An intermediate attitude which is composed of the desired attitude and...