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We address the theoretical and practical problems related to the trajectorygeneration and tracking control of tail-sitter UAVs. Theoretically, we focus onthe differential flatness property with full exploitation of actual UAVaerodynamic models, which lays a foundation for generating dynamically feasibletrajectory and achieving high-performance tracking control. We have found thata tail-sitter is differentially flat with accurate aerodynamic models withinthe entire flight envelope, by specifying coordinate flight condition andchoosing the vehicle position as the flat output. This fundamental propertyallows us to fully exploit the high-fidelity aerodynamic models in thetrajectory planning and tracking control to achieve accurate tail-sitterflights. Particularly, an optimization-based trajectory planner fortail-sitters is proposed to design high-quality, smooth trajectories withconsideration of kinodynamic constraints, singularity-free constraints andactuator saturation. The planned trajectory of flat output is transformed tostate trajectory in real-time with consideration of wind in environments. Totrack the state trajectory, a global, singularity-free, andminimally-parameterized on-manifold MPC is developed, which fully leverages theaccurate aerodynamic model to achieve high-accuracy trajectory tracking withinthe whole flight envelope. The effectiveness of the proposed framework isdemonstrated through extensive real-world experiments in both indoor andoutdoor field tests, including agile SE(3) flight through consecutive narrowwindows requiring specific attitude and with speed up to 10m/s, typicaltail-sitter maneuvers (transition, level flight and loiter) with speed up to20m/s, and extremely aggressive aerobatic maneuvers (Wingover, Loop, VerticalEight and Cuban Eight) with acceleration up to 2.5g.

Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights