@article {152, title = {Robust Global Trajectory Tracking for Underactuated {VTOL} Aerial Vehicles using Inner-Outer Loop Control Paradigms}, journal = {IEEE Transactions on Automatic Control}, volume = {62}, number = {1}, year = {2017}, month = {January}, pages = {97-112}, chapter = {97}, author = {R. Naldi and M. Furci and R. G. Sanfelice and L. Marconi} }