3 accepted papers
This paper introduces an LL1adaptive control aug-mentation for geometric tracking control of quadrotors. In the proposed design, the LL 1 augmentation handles nonlinear (time-and state-dependent) uncertainties in the quadrotor dynamics without assuming or enforcing parametric structures, while the b…
This letter presents an approach to guaranteed trajectory tracking for nonlinear control-affine systems subject to external disturbances based on robust control contraction metrics (CCM) that aims to minimize the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.
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…