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This paper proposes several nonlinear control strategies for trajectorytracking of a quadcopter system based on the property of differential flatness.Its originality is twofold. Firstly, it provides a flat output for thequadcopter dynamics capable of creating full flat parametrization of the statesand inputs. Moreover, B-splines characterizations of the flat output and theirproperties allow for optimal trajectory generation subject to way-pointconstraints. Secondly, several control strategies based on computed torquecontrol and feedback linearization are presented and compared. The advantagesof flatness within each control strategy are analyzed and detailed throughextensive simulation results.

Flatness-based nonlinear control strategies for trajectory tracking of quadcopter systems