This paper reveals the minimal number of inputs for hovering control from the perspective of nonlinear control system theory. Then, a nonlinear controller is designed to obtain meaningful motion for an underactuated UAV with the consideration of the limitation acknowledged through the model analysis. Throughout this paper, a particular UAV model having three rotors is considered as a controlled object. First, nonlinear state equations are computed with valid assumptions. Next, the model analysis reveals that hovering control is impossible for not only the proposed model but also a generic three-inputs model through the argument of Locally Asymptotically Stabilizability(LAS).Finally, numerical simulation confirms that position control is realizable via Output Zeroing Control along with preferable attitude.
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