On the VTOL Exact Tracking With Bounded Internal Dynamics via a PoincarÉ Map Approach

This paper considers the problem of open-loop exact tracking for the vertical takeoff and landing aircraft with respect to the nominal output. It is shown that if the norm of the acceleration of the reference curve is lower than k_mg, where g is the gravity acceleration and k_m sime 0.2672, then there exists a special initial state such that the internal dynamics are bounded. The bounding term is directly proportional to the maximum norm of the acceleration of the reference trajectory.