Modelling and control of VTOL UAVs interacting with the environment

In this paper we focus on the problem of modeling and controlling a certain configuration of UAV (Unmanned Aerial Vehicle) considering explicitly the interaction with the environment and the resulting constraints which affect the dynamics of the system. This problem is particularly interesting in order to employ unmanned aircrafts in tasks and operations which may require explicitly or implicitly contacts between the UAV itself and the environment such as manipulation of remote objects or indoor flight. For a class of VTOL (Vertical Take-Off and Landing) aircrafts we start studying the problem of safe take-off from hostile terrains and the control of the vehicle when in contact with vertical fixed surfaces, providing, in this last scenario, a controller capable to perform tasks in this configuration.