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In this paper a geometric approach to the trajectory tracking control ofUnmanned Aerial Vehicles with thrust vectoring capabilities is proposed. Thecontrol design is suitable for aerial systems that allow to effectivelydecouple position and orientation tracking tasks. The control problem isdeveloped within the framework of geometric control theory on the group ofrigid displacements SE(3), yielding a control law that is independent of anyparametrization of the configuration space. The proposed design works seamlessywhen the thrust vectoring capability is limited, by prioritizing position overorientation tracking. A characterization of the region of attraction and of theconvergence properties is explicitly derived. Finally, a numerical example ispresented to test the proposed control law. The generality of the controlscheme can be exploited for a broad class of aerial vehicles.

Geometric tracking control of thrust vectoring UAVs