Name
Abstract | ||
|---|---|---|
This paper introduces an $L$1adaptive control aug-mentation for geometric tracking control of quadrotors. In the proposed design, the $L$ 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 $L$1augmentation applies to both the rotational and the translational dynamics. Experimental results demonstrate that the augmented geomet-ric 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. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/ICRA46639.2022.9811946 | IEEE International Conference on Robotics and Automation |
DocType | Volume | Issue |
Conference | 2022 | 1 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhuohuan Wu | 1 | 0 | 0.68 |
| Sheng Cheng | 2 | 0 | 0.34 |
| Kasey Ackerman | 3 | 0 | 1.01 |
| Aditya Gahlawat | 4 | 0 | 0.34 |
| Arun Lakshmanan | 5 | 0 | 0.68 |
| Pan Zhao | 6 | 0 | 0.34 |
| Naira Hovakimyan | 7 | 748 | 114.25 |