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In this paper we present a maneuver regulation scheme for Vertical Take-Offand Landing (VTOL) micro aerial vehicles (MAV). Differently from standardtrajectory tracking, maneuver regulation has an intrinsic robustness due to thefact that the vehicle is not required to chase a virtual target, but just tostay on a (properly designed) desired path with a given velocity profile. Inthis paper we show how a robust maneuver regulation controller can be easilydesigned by converting an existing tracking scheme. The resulting maneuveringcontroller has three main appealing features, namely it: (i) inherits therobustness properties of the tracking controller, (ii) gains the appealingfeatures of maneuver regulation, and (iii) does not need any additional tuningwith respect to the tracking controller. We prove the correctness of theproposed scheme and show its effectiveness in experiments on a nano-quadrotor.In particular, we show on a nontrivial maneuver how external disturbancesacting on the quadrotor cause instabilities in the standard tracking, whilemarginally affect the maneuver regulation scheme.

From Tracking to Robust Maneuver Regulation: an Easy-to-Design Approach for VTOL Aerial Robots