Adaptive Nonlinear Control of a Bicopter with Unknown Dynamics

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dc.contributor.authorDelgado, Jhon Manuel Portella
dc.contributor.authorGoel, Ankit
dc.date.accessioned2023-05-25T18:45:52Z
dc.date.available2023-05-25T18:45:52Z
dc.date.issued2023-05-05
dc.description.abstractThis 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.en_US
dc.description.urihttps://arxiv.org/abs/2305.03554en_US
dc.format.extent6 pagesen_US
dc.genrejournal articlesen_US
dc.genrepreprintsen_US
dc.identifierdoi:10.13016/m2k031-oca9
dc.identifier.urihttps://doi.org/10.48550/arXiv.2305.03554
dc.identifier.urihttp://hdl.handle.net/11603/28078
dc.language.isoen_USen_US
dc.relation.isAvailableAtThe University of Maryland, Baltimore County (UMBC)
dc.relation.ispartofUMBC Mechanical Engineering Department Collection
dc.relation.ispartofUMBC Student Collection
dc.relation.ispartofUMBC Faculty Collection
dc.rightsThis item is likely protected under Title 17 of the U.S. Copyright Law. Unless on a Creative Commons license, for uses protected by Copyright Law, contact the copyright holder or the author.en_US
dc.rightsAttribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)*
dc.rights.urihttps://creativecommons.org/licenses/by-nc-sa/4.0/*
dc.titleAdaptive Nonlinear Control of a Bicopter with Unknown Dynamicsen_US
dc.typeTexten_US
dcterms.creatorhttps://orcid.org/0000-0002-4146-6275en_US

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