Control of input redundant affine systems : application to runway axis tracking at landing

Abstract : Among the specific methodologies for the control of nonlinear systems, Nonlinear Dynamic Inversion has gained considerable popularity over the last decade. A complete theory is now available for the design of feedback control laws which associates to a nonlinear system a dynamic linear input-output relationship easily inversible. Nevertheless, the possible saturation of the actuators has not been taken into account. In order to solve this limitation, a supervision strategy is proposed in the case of input redundant affine systems. In this paper, while a generic force and moment nonlinear inverse control laws is displayed, the viability and efficiency of the proposed supervision strategy is highlighted.