On Global Tracking Control of a VTOL Aircraft without Velocity Measurements

K. D. Do, Z. P. Jiang, J. Pan

Research output: Contribution to journalArticlepeer-review


This note develops a nonlinear output-feedback controller to force a nonminimum phase, underactuated vertical take-off and landing aircraft to globally asymptotically track a reference trajectory generated by a reference model. The control development is based on a global exponential observer, some global coordinate transformations, Lyapunov's direct method and an extension of the backstepping technique. Interestingly, the proposed methodology also yields new results for the previously studied problems of stabilization and output tracking or regulation. Numerical simulations illustrate the effectiveness of the proposed controller.

Original languageEnglish (US)
Pages (from-to)2212-2217
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number12
StatePublished - Dec 2003


  • Backstepping
  • Lyapunov's direct method
  • Output-feedback
  • Vertical take-off and landing (VTOL)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'On Global Tracking Control of a VTOL Aircraft without Velocity Measurements'. Together they form a unique fingerprint.

Cite this