Adaptive Nonlinear Control of a Bicopter with Unknown Dynamics

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.

Figures (11)

• Figure 1: Bicopter configuration considered in this paper. The bicopter is constrained to the $\hat{\imath} _{\rm A}-\hat{\jmath} _{\rm A}$ plane and rotates about the $\hat{k}_{\rm A}$ axis of the inertial frame $\rm F_A.$
• Figure 2: Adaptive, Dynamic, Input-Output Linearizing Control Architecture.
• Figure 3: Full-state feedback control architecture with integral action.
• Figure 4: Elliptical trajectory. trajectory-tracking response of the bicopter with ADIOL and two tracking controllers. The output trajectory response with the ADIOL-FSI and ADIOL-PTC controller is shown in blue and red, respectively. The reference trajectory is shown in dashed black.
• Figure 5: Elliptical trajectory. Position $(r_1, r_2)$ and roll angle $\theta$ response of the bicopter with ADIOL-FSI (in blue) and ADIOL-PTC (in red).