ℒ1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors
Jintasit Pravitra,Kasey A. Ackerman,Chengyu Cao,Naira Hovakimyan,Evangelos A. Theodorou,Jintasit Pravitra,Kasey A. Ackerman,Chengyu Cao,Naira Hovakimyan,Evangelos A. Theodorou
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 functions in real-time. However, it often lacks robustness, especially when the simulated dynamics ...
