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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2305.03554 |
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Table of 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.