Rotorcraft Trajectory Tracking by Supervised NLI Control

Drouin, A.; Lengerke, O.; Ramos, A. B.; Mora-Camino, F.
July 2012
Proceedings of the International MultiConference of Engineers & ;2012, Special section p1
Conference Proceeding
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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