A path-following problem for a class of non-linear uncertain systems

This paper focuses on a path-following problem for a suitable class of Chaplygin-like non linear uncertain systems. A feedforward/feedback strategy is proposed where the feedforward action is based on an exact dynamic inversion of the nominal system and the feedback correction depends on the error of the actual output with respect to the path to be followed. A convergence analysis of the resulting dynamic inversion based controller is presented and a simulation for a three dimensional path following problem with a simple aircraft model is included.