Robust, High-Rate Trajectory Tracking on Insect-Scale Soft-Actuated Aerial Robots with Deep-Learned Tube MPC
Andrea Tagliabue,Yi-Hsuan Hsiao,Urban Fasel,J. Nathan Kutz,Steven L. Brunton,YuFeng Chen,Jonathan P. How,Andrea Tagliabue,Yi-Hsuan Hsiao,Urban Fasel,J. Nathan Kutz,Steven L. Brunton,YuFeng Chen,Jonathan P. How
Accurate and agile trajectory tracking in sub-gram Micro Aerial Vehicles (MAVs) is challenging, as the small scale of the robot induces large model uncertainties, demanding robust feedback controllers, while the fast dynamics and computational constraints prevent the deployment of computationally expensive strategies. In this work, we present an approach for agile and computationally efficient tra...
