$\mathcal{L}_1$ Adaptive Augmentation for Geometric Tracking Control of Quadrotors

Autor:	Wu, Zhuohuan, Cheng, Sheng, Ackerman, Kasey A., Gahlawat, Aditya, Lakshmanan, Arun, Zhao, Pan, Hovakimyan, Naira
Rok vydání:	2021
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
DOI:	10.1109/ICRA46639.2022.9811946
Popis:	This paper introduces an $\mathcal{L}_1$ adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the $\mathcal{L}_1$ 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 dynamics. The $\mathcal{L}_1$ augmentation applies to both the rotational and the translational dynamics. Experimental results demonstrate that the augmented geometric 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. Comment: accepted by ICRA 2022
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2109.06998 Zobrazit plný text záznamu View this record from Arxiv