Abstract
Among the specific methodologies for the control of nonlinear systems, Nonlinear Dynamic Inversion has gained considerable popularity over the last decade. A complete theory is now available for the design of feedback control laws which associates a nonlinear system to a dynamic linear input-output relationship easily inversible. However, the possible saturation of the actuators has not been taken into account. In order to solve this limitation, a supervision strategy is proposed in the case of input redundant affine systems. In this paper, while a generic force and moment nonlinear inverse control laws is displayed, the viability and efficiency of the proposed supervision strategy is highlighted.
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