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

Jhon Manuel Portella Delgado, Mohammad Mirtaba, Ankit Goel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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.

Original languageEnglish
Title of host publication2024 American Control Conference, ACC 2024
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3841-3846
Number of pages6
ISBN (Electronic)9798350382655
DOIs
StatePublished - 2024
Externally publishedYes
Event2024 American Control Conference, ACC 2024 - Toronto, Canada
Duration: 10 Jul 202412 Jul 2024

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Conference

Conference2024 American Control Conference, ACC 2024
Country/TerritoryCanada
CityToronto
Period10/07/2412/07/24

Keywords

  • adaptive backstepping control
  • bicopter
  • dynamic extension
  • multicopter

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