Name
Abstract | ||
|---|---|---|
This paper presents a multirotor control architecture, where Model Predictive Path Integral Control (MPPI) and ℒ 1 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 are different from the true dynamics. We show that the ℒ 1 adaptive controller robustifies the architecture, allowing the overall system to behave similar to the nominal system simulated with MPPI. The architecture is validated in a simulated multirotor racing environment. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/IROS45743.2020.9341154 | IROS |
DocType | Citations | PageRank |
Conference | 0 | 0.34 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jintasit Pravitra | 1 | 0 | 0.34 |
| Kasey Ackerman | 2 | 0 | 1.01 |
| Chengyu Cao | 3 | 170 | 42.50 |
| Naira Hovakimyan | 4 | 748 | 114.25 |
| Evangelos A. Theodorou | 5 | 807 | 70.91 |