L1Adaptive Augmentation for Geometric Tracking Control of Quadrotors
Zhuohuan Wu,Sheng Cheng,Kasey A. Ackerman,Aditya Gahlawat,Arun Lakshmanan,Pan Zhao,Naira Hovakimyan,Zhuohuan Wu,Sheng Cheng,Kasey A. Ackerman,Aditya Gahlawat,Arun Lakshmanan,Pan Zhao,Naira Hovakimyan
This paper introduces an $L$1adaptive control aug-mentation 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 dyn...
