# Robust Global Trajectory Tracking for Underactuated VTOL Aerial Vehicles Using Inner-Outer Loop Control Paradigms

> Research article (IEEE Transactions on Automatic Control, 2016) · cited 142× · AI/ML

**Wikidata**: [openalex:W2341206624](https://www.wikidata.org/wiki/openalex:W2341206624)  
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