A two level non linear inverse control structure for rotorcraft trajectory tracking

Felix Mora-Camino (1)

1 LAAS-DISCO - Équipe DIagnostic, Supervision et COnduite

The purpose of this communication is to investigate the usefulness of the non linear inverse control approach to solve the trajectory tracking problem for a four rotor aircraft. After introducing simplifying assumptions, the flight dynamics equations for the four rotor aircraft are considered. A trajectory tracking control structure based on a two layer non linear inverse approach is then proposed. A supervision level is introduced to take into account the actuator limitations.

Mots clés: nonlinear inverse control; trajectory tracking; rotorcraft flight mechanics

Domaines: Automatique / Robotique

Felix Mora-Camino. A two level non linear inverse control structure for rotorcraft trajectory tracking. CCC 2007, 26th Chinese Control Conference, Jul 2007, Zhangjiajie, China. pp 321-325, ⟨10.1109/CHICC.2006.4347095⟩. ⟨hal-00938173⟩