L1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors [article]

Jintasit Pravitra, Kasey A. Ackerman, Chengyu Cao, Naira Hovakimyan, Evangelos A. Theodorou
2020 arXiv   pre-print
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 are different from the true dynamics. We show that the L1 adaptive controller robustifies the
more » ... ecture, allowing the overall system to behave similar to the nominal system simulated with MPPI. The architecture is validated in a simulated multirotor racing environment.
arXiv:2004.00152v1 fatcat:f3evn6h7drdxzcifpmhd7aoxki