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.