Differential flat control for rotorcraft trajectory tracking

Nan Zhang (1) , Geanina Andrei (1) , Antoine Drouin (1) , Felix Mora-Camino (2)

1 ENAC - Ecole Nationale de l'Aviation Civile
2 LAAS-DISCO - Équipe DIagnostic, Supervision et COnduite

The purpose of this communication is to investigate the usefulness of the differential flatness 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 approach is then proposed. A supervision level is introduced to take into account the actuators limitations.

Mots clés: differential flatness; guidance supervision; rotorcraft flight mechanics; trajectory tracking

Domaines: Automatique / Robotique

Nan Zhang, Geanina Andrei, Antoine Drouin, Felix Mora-Camino. Differential flat control for rotorcraft trajectory tracking. IMECS 2009, International Multiconference of Engineers and Computer Scientists, Mar 2009, Hong Kong, China. pp 1331-1336. ⟨hal-00938210⟩