Jintasit Pravitra

ℒ1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors

This paper presents a multirotor control architecture, where Model Predictive Path Integral Control (MPPI) and ℒ1 adaptive control are combined to achieve both fast model predictive trajectory planning and robust trajectory tracking. MPPI provides a framework to solve nonlinear MPC with complex cost…