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ℒ<sub>1</sub>-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors

Jintasit Pravitra, Kasey A. Ackerman, Chengyu Cao, Naira Hovakimyan, Evangelos A. Theodorou

202046 citationsDOI

Abstract

This paper presents a multirotor control architecture, where Model Predictive Path Integral Control (MPPI) and ℒ <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sub> 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 <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sub> 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.

Topics & Concepts

MultirotorRobustness (evolution)Computer scienceTrajectoryAgile software developmentArchitectureControl theory (sociology)Control (management)Artificial intelligenceEngineeringVisual artsBiochemistryAstronomyAerospace engineeringPhysicsChemistryArtGeneSoftware engineeringAdvanced Control Systems OptimizationIterative Learning Control SystemsHydraulic and Pneumatic Systems
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