A Two Level Non Linear Inverse Control Structure for Rotorcraft Trajectory Tracking

Abstract: 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 in-verse approach is then proposed. A supervision level is introduced to take into account the actuator limitations. Key Words: Rotorcraft flight mechanics, nonlinear inverse control, trajectory tracking.