Adaptive Nonlinear Control of a Bicopter with Unknown Dynamics
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2023-05-05
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Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
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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.