Rotorcraft trajectory tracking by supervised NLI control

International audienceThe 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