Full-Pose Tracking Control for Aerial Robotic Systems with Laterally Bounded Input Force

Antonio Franchi*, Ruggero Carli, Davide Bicego, Markus Ryll

*Corresponding author for this work

Research output: Contribution to journalArticleAcademicpeer-review

22 Citations (Scopus)
3 Downloads (Pure)


A class of abstract aerial robotic systems is introduced, the laterally bounded force vehicles, in which most of the control authority is expressed along a principal thrust direction, while along the lateral directions a (smaller and possibly null) force may be exploited to achieve full-pose tracking. This class approximates platforms endowed with noncollinear rotors that can modify the orientation of the total thrust in a body frame. If made possible by the force constraints, the proposed SE(3)-based control strategy achieves the independent tracking of position-plus-orientation trajectories. The method, which is proven using a Lyapunov technique, deals seamlessly with both underactuated and fully actuated platforms, and guarantees at least the position tracking in the case of an unfeasible full-pose reference trajectory. Several experimental tests are presented that clearly show the approach practicability and the sharp improvement with respect to state of the art.

Original languageEnglish
Pages (from-to)534-541
Number of pages8
JournalIEEE transactions on robotics
Issue number2
Publication statusPublished - Apr 2018
Externally publishedYes


  • Aerospace control, nonlinear control systems, robot control, unmanned aerial vehicles

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