This paper reveals the minimal number of inputs for hovering control to UAV based on 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 paticular 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 suggesting 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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