Rotorcraft trajectory tracking by supervised NLI control

Antoine Drouin (1) , Omar Lengerke (2) , Alexandre Carlos Brandao-Ramos (3) , Felix Mora-Camino (4)

1 MAIAA - ENAC - Laboratoire de Mathématiques Appliquées, Informatique et Automatique pour l'Aérien
2 Mechatronic and Robotic Laboratory
3 Instituto de Ciências Exatas
4 LAAS-DISCO - Équipe DIagnostic, Supervision et COnduite

The purpose of this communication is to present a new nonlinear control structure for trajectory tracking taking explicitly into account actuators saturation. Here trajectory tracking by a four rotor aircraft is considered. After introducing the flight dynamics equations for the four rotor aircraft, a trajectory tracking control structure based on a two layer non linear inverse approach is adopted and a supervision layer is introduced to take into account the possible actuators saturation.

Domaines: Automatique / Robotique

Antoine Drouin, Omar Lengerke, Alexandre Carlos Brandao-Ramos, Felix Mora-Camino. Rotorcraft trajectory tracking by supervised NLI control. IMECS 2012, International MultiConference of Engineers and Computer Scientists 2012, Mar 2012, Hong Kong, China. pp 883-887. ⟨hal-00938523⟩