Trajectory tracking of an Unmanned Aerial Vehicle model using partial state feedback

This paper presents guidance and control laws design for trajectory tracking of an Unmanned Aerial Vehicle, using only position and attitude measurements. Stabilizing tracking controllers are obtained via the introduction of virtual states in the system dynamics, and without using velocity measurements nor any observer. Simulation results are provided for a six degrees of freedom model of a small Vertical Take Off and Landing Unmanned Aerial Vehicle.