Optimized L1 adaptive controller for trajectory tracking of an indoor quadrotor

Hamidreza Jafarnejadsani, Donglei Sun, Hanmin Lee, Naira Hovakimyan

Research output: Contribution to journalArticlepeer-review


This paper proposes a systematic analysis and synthesis method for the optimal design of filters for L1 adaptive output feedback controllers. In the L1 adaptive feedback structure, the low-pass filter is the key to the tradeoff between the performance and robustness of the closed-loop system. Although the filter design for the L1 adaptive architecture has been studied in previous papers, the need for a numerically tractable synthesis method is yet to be fulfilled. In this paper, the L1 adaptive controller with an optimized filter is used for precision trajectory tracking control of a small quadrotor (Crazyflie) in an experimental setup. The controller demonstrates robustness to time delay, noise, disturbances, radio transmission, and uncertainties in the modeling of quadrotor.

Original languageEnglish (US)
Pages (from-to)1415-1427
Number of pages13
JournalJournal of Guidance, Control, and Dynamics
Issue number6
StatePublished - 2017

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Aerospace Engineering
  • Space and Planetary Science
  • Electrical and Electronic Engineering
  • Applied Mathematics

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