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

arXiv: https://arxiv.org/abs/2402.03709 · HTML: https://mlsanity.com/paper/2402.03709/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Feb 2024.

## Built on by (most cited first, 1 of 1)

- [Data-driven Fuzzy Control for Time-Optimal Aggressive Trajectory Following](https://mlsanity.com/paper/2504.06500/) (2025)

## Abstract (arXiv)

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.