Singularity-free Backstepping-based Adaptive Control of a Bicopter with Unknown Mass and Inertia

Thumbnail Image

Files

2409.13081v2.pdf (948.73 KB)

Links to Files

http://arxiv.org/abs/2409.13081

Permanent Link

https://doi.org/10.48550/arXiv.2409.13081
 http://hdl.handle.net/11603/36851

Collections

UMBC Mechanical Engineering Department
UMBC Faculty Collection
UMBC Student Collection

Author/Creator

Author/Creator ORCID

https://orcid.org/0000-0002-4146-6275
 https://orcid.org/0000-0003-2778-686X

Date

2024-09-19

Type of Work

journal articles
preprints
Text

Department

Program

Citation of Original Publication

Rights

Attribution-NonCommercial-ShareAlike 4.0 International CC BY-NC-SA 4.0 Deed

Subjects

UMBC Estimation, Control, and Learning Laboratory (ECLL).
Mathematics - Optimization and Control

Abstract

The paper develops a singularity-free backstepping-based adaptive control for stabilizing and tracking the trajectory of a bicopter system. In the bicopter system, the inertial parameters parameterize the input map. Since the classical adaptive backstepping technique requires the inversion of the input map, which contains the estimate of parameter estimates, the stability of the closed-loop system cannot be guaranteed due to the inversion of parameter estimates. This paper proposes a novel technique to circumvent the inversion of parameter estimates in the control law. The resulting controller requires only the sign of the unknown parameters. The proposed controller is validated in simulation for a smooth and nonsmooth trajectory-tracking problem.