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

Abstract : 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.