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This paper participates in the development of a unified approach to thecontrol of aerial vehicles with extended flight envelopes. More precisely,modeling for control purposes of a class of thrust-propelled aerial vehiclessubjected to lift and drag aerodynamic forces is addressed assuming arotational symmetry of the vehicle's shape about the thrust force axis. Acondition upon aerodynamic characteristics that allows one to recast thecontrol problem into the simpler case of a spherical vehicle is pointed out.Beside showing how to adapt nonlinear controllers developed for this lattercase, the paper extends a previous work by the authors in two directions.First, the 3D case is addressed whereas only motions in a single vertical planewas considered. Secondly, the family of models of aerodynamic forces for whichthe aforementioned transformation holds is enlarged.

Modeling for Control of Symmetric Aerial Vehicles Subjected to Aerodynamic Forces