Adaptive Nonlinear Control of a Bicopter with Unknown Dynamics

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https://arxiv.org/abs/2305.03554
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https://doi.org/10.48550/arXiv.2305.03554
http://hdl.handle.net/11603/28078
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2023-05-05
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6 pages
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journal articles
preprints
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This item is likely protected under Title 17 of the U.S. Copyright Law. Unless on a Creative Commons license, for uses protected by Copyright Law, contact the copyright holder or the author.
Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
https://creativecommons.org/licenses/by-nc-sa/4.0/
Abstract
This paper presents an adaptive input-output linearization controller with a finite-time convergent parameter estimator for the multicopter trajectory following problem. The controller is constructed by augmenting the input-output linearizing controller based on a dynamically extended multicopter model with a parameter estimator with finite-time convergence properties. Unlike control systems based on the time separation principle to separate the translational and rotational dynamics, the proposed technique is applied to design a controller for the full nonlinear dynamics of the system to obtain desired transient performance. The proposed controller is validated in simulation for a smooth and nonsmooth trajectory following problem.

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This item is likely protected under Title 17 of the U.S. Copyright Law. Unless on a Creative Commons license, for uses protected by Copyright Law, contact the copyright holder or the author.
Except where otherwise noted, this item's license is described as This item is likely protected under Title 17 of the U.S. Copyright Law. Unless on a Creative Commons license, for uses protected by Copyright Law, contact the copyright holder or the author.