Adaptive Nonlinear Control of a Bicopter with Unknown Dynamics

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2305.03554.pdf (389.22 KB)

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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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UMBC Mechanical Engineering Department
UMBC Faculty Collection
UMBC Student Collection

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https://orcid.org/0000-0002-4146-6275

Date

2023-05-05

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journal articles
preprints
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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.