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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2023
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2305.03554 |
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| _version_ | 1866917584438296576 |
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| author | Delgado, Jhon Manuel Portella Goel, Ankit |
| author_facet | Delgado, Jhon Manuel Portella Goel, Ankit |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2305_03554 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Adaptive Nonlinear Control of a Bicopter with Unknown Dynamics Delgado, Jhon Manuel Portella Goel, Ankit Dynamical Systems 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. |
| title | Adaptive Nonlinear Control of a Bicopter with Unknown Dynamics |
| topic | Dynamical Systems |
| url | https://arxiv.org/abs/2305.03554 |