Rotorcraft trajectory tracking by non linear inverse control

Antoine Drouin (1) , Alexandre Carlos Brandao-Ramos (2) , Thierry Miquel (1) , Felix Mora-Camino (3)

1 ENAC - Ecole Nationale de l'Aviation Civile
2 Instituto de Ciências Exatas
3 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: rotorcraft flight mechanics; nonlinear inverse control; trajectory tracking

Domaines: Automatique / Robotique

Antoine Drouin, Alexandre Carlos Brandao-Ramos, Thierry Miquel, Felix Mora-Camino. Rotorcraft trajectory tracking by non linear inverse control. DINCON 2007, 6th Brazilian Conference on Dynamics, Control and their Applications, May 2007, São José do Rio Preto, Brazil. pp xxxx. ⟨hal-00938738⟩