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Coordinated Incremental Trajectory Tracking of a Tailsitter Drone

2026-07-13 15:03:44
Evangelos Ntouros, Ewoud J. J. Smeur
arXiv_RO
       
Abstract

This paper derives an analytical differential flatness transform for a tailsitter Unmanned Aerial Vehicle (UAV) under coordinated flight conditions using a simplified aerodynamic model. The proposed framework is formulated exclusively using rotation matrices, avoiding the ambiguities inherent to Euler angle representations. The method extends the applicability of an existing state-of-the-art differential flatness-based controller to flight regimes involving a significant vertical velocity component, where the previous approach becomes inapplicable. The proposed framework is validated experimentally with trajectories that highlight its advantages in these regimes.

Abstract (translated)

URL

https://arxiv.org/abs/2607.11651

PDF

https://arxiv.org/pdf/2607.11651.pdf

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