TY - GEN
T1 - ℒ1-Adaptive MPPI architecture for robust and agile control of multirotors
AU - Pravitra, Jintasit
AU - Ackerman, Kasey A.
AU - Cao, Chengyu
AU - Hovakimyan, Naira
AU - Theodorou, Evangelos A.
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/24
Y1 - 2020/10/24
N2 - 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 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.
AB - 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 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.
UR - http://www.scopus.com/inward/record.url?scp=85099855039&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85099855039&partnerID=8YFLogxK
U2 - 10.1109/IROS45743.2020.9341154
DO - 10.1109/IROS45743.2020.9341154
M3 - Conference contribution
AN - SCOPUS:85099855039
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 7661
EP - 7666
BT - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Y2 - 24 October 2020 through 24 January 2021
ER -