Differential Flat Control for Rotorcraft Trajectory Tracking

Abstract—The purpose of this communication is to investigate the usefulness of the differential flatness 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 approach is then proposed. A supervision level is introduced to take into account the actuators limitations. Index Terms—differential flatness, guidance supervision, rotorcraft flight mechanics, trajector