| Autor: |
Mirtaba, Mohammad, Oveissi, Parham, Goel, Ankit |
| Rok vydání: |
2024 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
This paper demonstrates the sim-to-real capabilities of retrospective cost optimization-based adaptive control for multirotor stabilization and trajectory-tracking problems. First, a continuous-time version of the widely used discrete-time retrospective control adaptive control algorithm is developed. Next, a computationally inexpensive 12-degree-of-freedom model of a multirotor is used to learn the control system in a simulation environment with a single trajectory. Finally, the performance of the learned controller is verified in a complex and realistic multirotor model in simulation and with a physical quadcopter in a waypoint command and a helical trajectory command. |
| Databáze: |
arXiv |
| Externí odkaz: |
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