Robust Trajectory Tracking Control for Tail-Sitter UAVs

In this paper, a robust trajectory tracking control method is presented for a class of tail-sitter unmanned aerial vehicles (UAVs) based on robust compensation method. The proposed controller consists of a position controller and an attitude controller. Moreover, global stability of the closed-loop control system can be proved via the small gain theory. Simulation results illustrate the effectiveness of the proposed control method.