L1Adaptive Augmentation for Geometric Tracking Control of Quadrotors
Zhuohuan Wu, Sheng Cheng, Kasey A. Ackerman, Aditya Gahlawat, Arun Lakshmanan, Pan Zhao, Naira Hovakimyan
Abstract
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 baseline geometric controller achieves stabilization of the known nonlinear model of the system dynamics. The LL1augmentation applies to both the rotational and the translational dynamics. Experimental results demonstrate that the augmented geomet-ric 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.
BibTeX
@inproceedings{icra2022_l1adaptiveaugmen,
title = {L1Adaptive Augmentation for Geometric Tracking Control of Quadrotors},
author = {Zhuohuan Wu and Sheng Cheng and Kasey A. Ackerman and Aditya Gahlawat and Arun Lakshmanan and Pan Zhao and Naira Hovakimyan},
booktitle = {ICRA 2022},
year = {2022}
}