This paper concerns the application of flatness principle to fractional systems. As soon as the path has been obtained by flatness, a new robust path tracking based on CRONE control is presented. The flatness concept in path planning is used when the trajectory is fixed (in space and in time), to determine the controls to apply without having to integrate any differential equations. A lot of developments have been made but, in the case of non integer differential systems (or fractional systems), few developments are still to be made. So, the aim of this paper is to apply flatness principle to a fractional system and to define a robust path tracking by CRONE control strategy. Firstly, we remind flatness principle definitions used in control’s theory. We study the fractional systems dynamic inversion. A robust path tracking based on CRONE control is presented. Finally, simulations with two different controllers (PID and CRONE) illustrate the path tracking robustness.

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