Delgado, Jhon Manuel PortellaGoel, Ankit2023-05-252023-05-252023-05-05https://doi.org/10.48550/arXiv.2305.03554http://hdl.handle.net/11603/28078This 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.6 pagesen-USThis 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.Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)Text