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

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 inverse approach is then proposed. A supervision level is introduced to take into account the actuator limitations.