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This paper presents a nonlinear tracking controller for the non-minimum phase, underactuated model of a vertical take-off and landing aircraft. Specifically, the controller is designed to ensure that the aircraft position-orientation tracks a reference signal generator with globally uniformly ultimately bounded tracking. The approach transforms the dynamics into a suitable form and uses a dynamic estimator within the overall control strategy to provide additional design flexibility.

Author

Dilip Thummar

Language

EN