L_1 Adaptive Augmentation for Geometric Tracking Control of Quadrotors
Zhuohuan Wu, Sheng Cheng, Kasey A. Ackerman, Aditya Gahlawat, Arun Lakshmanan, Pan Zhao, Naira Hovakimyan
Code Available — Be the first to reproduce this paper.
ReproduceCode
- github.com/hovakimyanresearch/l1-mamboOfficialnone★ 29
- github.com/HovakimyanResearch/L1-Mambo/blob/main/README.mdOfficialnone★ 0
Abstract
This paper introduces an L_1 adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the L_1 augmentation handles nonlinear (time- and state-dependent) uncertainties in the quadrotor dynamics without assuming or enforcing parametric structures, while the baseline geometric controller achieves stabilization of the known nonlinear model of the system dynamics. The L_1 augmentation applies to both the rotational and the translational dynamics. Experimental results demonstrate that the augmented geometric controller shows consistent and (on average five times) smaller trajectory tracking errors compared with the geometric controller alone when tested for different trajectories and under various types of uncertainties/disturbances.