@inproceedings{0483b1d693d04f9bb6dacb0f085ec6cb,
title = "L1Adaptive Augmentation for Geometric Tracking Control of Quadrotors",
abstract = "This paper introduces an L1adaptive 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 L1augmentation 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.",
author = "Zhuohuan Wu and Sheng Cheng and Ackerman, {Kasey A.} and Aditya Gahlawat and Arun Lakshmanan and Pan Zhao and Naira Hovakimyan",
note = "*This work is supported by National Aeronautics and Space Administration (NASA), Air Force Office of Scientific Research (AFOSR), National Science Foundation (NSF) Cyber Physical Systems (CPS) award # 1932529, NSF National Robotics Initiative 2.0 (NRI-2.0) award # 1830639, and NSF-AoF Robust Intelligence award # 2133656.; 39th IEEE International Conference on Robotics and Automation, ICRA 2022 ; Conference date: 23-05-2022 Through 27-05-2022",
year = "2022",
doi = "10.1109/ICRA46639.2022.9811946",
language = "English (US)",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1329--1336",
booktitle = "2022 IEEE International Conference on Robotics and Automation, ICRA 2022",
address = "United States",
}