Coordinated Incremental Trajectory Tracking of a Tailsitter Drone

• URL: http://arxiv.org/abs/2607.11651v1
• Date: Mon, 13 Jul 2026 15:03:44 GMT
• Title: Coordinated Incremental Trajectory Tracking of a Tailsitter Drone
• Abstract summary: This paper derives an analytical differential flatness transform for a tailsitter Unmanned Aerial Vehicle (UAV) under coordinated flight conditions using a simplified aerodynamic model.<n>The proposed framework is formulated exclusively using rotation matrices, avoiding the ambiguities inherent to Euler angle representations.
• Score: 0.42970700836450487
• License: http://creativecommons.org/licenses/by/4.0/
• 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.

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