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Rotorcraft trajectory tracking by supervised NLI control

Abstract : 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.
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https://hal-enac.archives-ouvertes.fr/hal-00938523
Contributor : Laurence Porte <>
Submitted on : Tuesday, April 29, 2014 - 3:45:39 PM
Last modification on : Tuesday, February 11, 2020 - 1:59:48 PM
Document(s) archivé(s) le : Tuesday, July 29, 2014 - 10:46:14 AM

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  • HAL Id : hal-00938523, version 1

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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⟩

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