Differential flatness based full authority helicopter control design

A full authority helicopter control design based on differential flatness is presented. The concept of outer flatness is deployed for the design. The position dynamics and attitude dynamics are treated as the outer and inner systems respectively. The proposed design is based on an approximate model which is differentially flat, and then modified for the exact model. Given a desired trajectory in trim flight condition, the proposed control scheme is proved to result in global exponentially stability and convergence in the trajectory error.