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

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dc.contributor.authorDelgado, Jhon Manuel Portella
dc.contributor.authorGoel, Ankit
dc.date.accessioned2024-10-28T14:31:41Z
dc.date.available2024-10-28T14:31:41Z
dc.date.issued2024-09-19
dc.description.abstractThe 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.
dc.description.urihttp://arxiv.org/abs/2409.13081
dc.format.extent8 pages
dc.genrejournal articles
dc.genrepreprints
dc.identifierdoi:10.13016/m2ulrk-amkd
dc.identifier.urihttps://doi.org/10.48550/arXiv.2409.13081
dc.identifier.urihttp://hdl.handle.net/11603/36851
dc.language.isoen_US
dc.relation.isAvailableAtThe University of Maryland, Baltimore County (UMBC)
dc.relation.ispartofUMBC Mechanical Engineering Department
dc.relation.ispartofUMBC Faculty Collection
dc.relation.ispartofUMBC Student Collection
dc.rightsAttribution-NonCommercial-ShareAlike 4.0 International CC BY-NC-SA 4.0 Deed
dc.rights.urihttps://creativecommons.org/licenses/by-nc-sa/4.0/
dc.subjectUMBC Estimation, Control, and Learning Laboratory (ECLL).
dc.subjectMathematics - Optimization and Control
dc.titleSingularity-free Backstepping-based Adaptive Control of a Bicopter with Unknown Mass and Inertia
dc.typeText
dcterms.creatorhttps://orcid.org/0000-0002-4146-6275
dcterms.creatorhttps://orcid.org/0000-0003-2778-686X

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