On 3D Path Following Control of a Ducted-Fan UAV on SO(3)

This article focuses on the problem of computing a control law for a particular class of tail-sitter aircraft able to switch their flight configuration from hover to level flight and vice-versa. We address the problem of steering a ducted-fan UAV along a given path (path following problem) so as to meet spatial constraints. One possible scenario is the situation where a vehicle is required to execute collision-free maneuvers under strict spatial limitations and arrive at his final destination while pointing with a camera to a moving target. Path following control in 3D builds on a nonlinear control strategy that is first derived at the kinematic level using the Special Orthogonal Group (SO(3)) theory.