Singularity-free Backstepping-based Adaptive Control of a Bicopter with Unknown Mass and Inertia
Year: 2024
Type: preprint
Abstract: The paper develops a singularity-free backstepping-based adaptive control for stabilizing and tracking the trajectory of a bicopter system. In the bicopter system, the inertial parameters parameterize the input map. Since the classical adaptive backstepping technique requires the inversion of the input map, which contains the estimate of parameter estimates, the stability of the closed-loop system cannot be guaranteed due to the inversion of parameter estimates. This paper proposes a novel technique to circumvent the inversion of parameter estimates in the control law. The resulting controller requires only the sign of the unknown parameters. The proposed controller is validated in simulation for a smooth and nonsmooth trajectory-tracking problem.
Source: arXiv (Cornell University)
DOI: 10.13016/m2ulrk-amkd
Authors: Delgado, Jhon Manuel Portella, Goel, Ankit
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W6941129861
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