A nonlinear robust and adaptive backstepping control strategy was proposed in [16] to solve the trajectory tracking problem of hexacopter UAVs. The nominal backstepping control approach was designed as the main controller, and simulations were performed considering non-vanishing bounded disturbances. In ...
Note that the weight parameter of 𝜀ε from Equation (5) is instead given a nominal value ≫≫ 1 to ensure that the unreachable grid cells are never optimal after applying the rest of the cost function. The different components of the cost function can be visualized from the perspective...