Robust Path-following Controller for Multirotor Vehicles in Uncertain Wind Conditions

This paper presents simulations of L₁ adaptive controller on a multirotor vehicle for compensation of convective winds. There are increasing efforts to utilize unmanned vehicles for fighting wildfires, but such vehicles need to be able to compensate for convective updrafts and other uncertainties (e.g., wind shear and turbulence) caused by the wildfire. Other application domains, such as urban air mobility, also must account for convective or uncertain winds present in urban microclimates. Geometric controllers have great tracking performance properties in environments without uncertainties, but the tracking performance degrades when wind disturbances and external loads are present in the environment. Introducing L₁ adaptive control into the controller architecture compensates for these wind disturbances and reduces the tracking error caused by such disturbances. The controller architecture is implemented on a small quadrotor. The simulations demonstrate the advantages of the L₁ adaptive augmentation for a sample figure-eight trajectory while encountering unknown variable wind conditions with an external load.