Verification of $L_1$ Adaptive Control using Verse Library: A Case Study of Quadrotors
$L_1$ adaptive control ($L_1$AC) is a control design technique that can handle a broad class of system uncertainties and provide transient performance guarantees. In this work-in-progress abstract, we discuss how existing formal verification tools can be applied to check the performance of $L_1$AC s...
Gespeichert in:
Hauptverfasser: | , , , , , |
---|---|
Format: | Artikel |
Sprache: | eng |
Schlagworte: | |
Online-Zugang: | Volltext bestellen |
Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
Zusammenfassung: | $L_1$ adaptive control ($L_1$AC) is a control design technique that can
handle a broad class of system uncertainties and provide transient performance
guarantees. In this work-in-progress abstract, we discuss how existing formal
verification tools can be applied to check the performance of $L_1$AC systems.
We show that the theoretical transient performance and robustness guarantees of
an $L_1$ adaptive controller for an 18-dimensional quadrotor system can be
verified using the recently developed Verse reachability analysis tool. We will
further consider the performance verification of $L_1$AC on systems with
learning-enabled components. |
---|---|
DOI: | 10.48550/arxiv.2303.13819 |