{"ID":6537441,"CreatedAt":"2026-07-14T02:54:43.516908796Z","UpdatedAt":"2026-07-15T03:28:55.185153975Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2607.11651","arxiv_id":"2607.11651","title":"Coordinated Incremental Trajectory Tracking of a Tailsitter Drone","abstract":"This paper derives an analytical differential flatness transform for a tailsitter Unmanned Aerial Vehicle (UAV) under coordinated flight conditions using a simplified aerodynamic model. The proposed framework is formulated exclusively using rotation matrices, avoiding the ambiguities inherent to Euler angle representations. The method extends the applicability of an existing state-of-the-art differential flatness-based controller to flight regimes involving a significant vertical velocity component, where the previous approach becomes inapplicable. The proposed framework is validated experimentally with trajectories that highlight its advantages in these regimes.","short_abstract":"This paper derives an analytical differential flatness transform for a tailsitter Unmanned Aerial Vehicle (UAV) under coordinated flight conditions using a simplified aerodynamic model. The proposed framework is formulated exclusively using rotation matrices, avoiding the ambiguities inherent to Euler angle representat...","url_abs":"https://arxiv.org/abs/2607.11651","url_pdf":"https://arxiv.org/pdf/2607.11651v1","authors":"[\"Evangelos Ntouros\",\"Ewoud J. J. Smeur\"]","published":"2026-07-13T15:03:44Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}