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The paper solves the trajectory tracking control problem for unmanned aerial vehicles (UAVs) when both the kinematics and dynamics effects are intertwined in the mathematical model. Using the backstepping method we establish a controller for the considered model that ensures exponential convergence to a given reference trajectory. Then, using the concept of virtual vehicles we consider the application...
This paper considers the formation control problem of a group of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAV) in SE(3). The vehicles among the team are required to track a reference velocity signal and maintain a desired formation. For each vehicle in the formation, we propose a design methodology based on the separation of the translational and the rotational dynamics, using...
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