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arXiv · 2305.03554

Adaptive Nonlinear Control of a Bicopter with Unknown Dynamics

Jhon Manuel Portella Delgado·Ankit Goel
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Abstract

This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using input-output linearization, augmenting the controller with a finite-time convergent parameter estimator, and designing a linear tracking controller. 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 the desired transient performance. The proposed controller is validated in simulation for a smooth and nonsmooth trajectory-tracking problem.

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Jhon Manuel Portella Delgado, Ankit Goel. 2023-05-05. Adaptive Nonlinear Control of a Bicopter with Unknown Dynamics. https://arxiv.org/abs/2305.03554

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