@article {2018d-FraCarBicRyl,
	title = {Full-Pose Tracking Control for Aerial Robotic Systems with Laterally-Bounded Input Force},
	journal = {IEEE Trans. on Robotics},
	volume = {34},
	year = {2018},
	month = {04/2018},
	pages = {534-541},
	abstract = {A class of abstract aerial robotic systems is introduced, the Laterally Bounded Force (LBF) vehicles, in which most of the control authority is expressed along a principal thrust direction, while in the lateral directions a (smaller and possibly null) force may be exploited to achieve full-pose tracking. This class approximates platforms endowed with non-collinear rotors that can modify the orientation of the total thrust in body frame. The proposed SE(3)-based control strategy achieves, if made possible by the force constraints, the independent tracking of position-plus-orientation trajectories. The method, which is proven using a Lyapunov technique, deals seamlessly with both under- and fully-actuated platforms, and guarantees at least the position tracking in the case of an unfeasible full-pose reference trajectory. Several experimental tests are presented, that clearly shown the approach practicability and the sharp improvement with respect to state of-the-art.},
	doi = {10.1109/TRO.2017.2786734},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018d-FraCarBicRyl.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018d-FraCarBicRyl-1.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018d-FraCarBicRyl-2.mp4 , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2018d-FraCarBicRyl-3.mp4},
	author = {Antonio Franchi and Ruggero Carli and Davide Bicego and Markus Ryll}
}
