Trajectory Manifold Exploration for the PVTOL aircraft

In this paper, we study the trajectory space of the PVTOL aircraft. We show that, due to the non-minimum phase nature of the system, more aggressive trajectories may be tracked with respect to the simplified differentially flat model. Given bounded C²trajectories of the center of gravity, we show that there exists a bounded roll trajectory which implements them. We compute an approximation of such roll trajectory using a Newton method for nonlinear optimization based on a trajectory tracking projection operator.