Adaptive Backstepping Control of a Bicopter in Pure Feedback Form with Dynamic Extension

Files

2402.03709.pdf (860.19 KB)

Links to Files

https://arxiv.org/abs/2402.03709

Permanent Link

https://doi.org/10.48550/arXiv.2402.03709
 http://hdl.handle.net/11603/31676

Collections

UMBC Mechanical Engineering Department
UMBC Faculty Collection
UMBC Student Collection

Author/Creator

Author/Creator ORCID

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

Date

2024-02-06

Type of Work

journal articles
preprints
Text

Department

Program

Citation of Original Publication

Rights

This 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.
CC BY-NC-ND 4.0 DEED Attribution-NonCommercial-NoDerivs 4.0 International

Subjects

Abstract

This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the input map, the bicopter system is first dynamically extended. However, the resulting dynamically extended system is in the pure feedback form with the uncertainty appearing in the input map. The adaptive backstepping technique is then extended and applied to design the controller. The proposed controller is validated in simulation for a smooth and nonsmooth trajectory-tracking problem.