@conference {81, title = {Global Trajectory Tracking for Underactuated {VTOL} Aerial Vehicles using Cascade Control Paradigms}, booktitle = {Proceedings of the IEEE Conference on Decision and Control}, series = {NULL}, year = {2013}, pages = {4212{\textendash}4217}, keywords = {attitude control}, author = {R. Naldi and M. Furci and R. G. Sanfelice and L. Marconi} }