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Creators/Authors contains: "Ackerman, Kasey A."

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  1. ; ; ; ; ; ; ( , Proceedings of International Conference on Robotics and Automation (ICRA))
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  2. ; ; ; ; ( , IEEE International Workshop on Intelligent Robots and Systems)
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    This paper presents a multirotor control architecture, where Model Predictive Path Integral Control (MPPI) and ℒ 1 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 1 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. 
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