  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.
