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

This paper presents a model-based, adaptive, nonlinear controller for thebicopter stabilization and trajectory-tracking problem. The nonlinearcontroller is designed using the backstepping technique. Due to thenon-invertibility of the input map, the bicopter system is first dynamicallyextended. However, the resulting dynamically extended system is in the purefeedback form with the uncertainty appearing in the input map. The adaptivebackstepping technique is then extended and applied to design the controller.The proposed controller is validated in simulation for a smooth and nonsmoothtrajectory-tracking problem.