(\mathcal{L}_1\)Quad: \(\mathcal{L}_1\) Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees

Quadrotors that can operate predictably in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications. We present L1Quad, a control architecture that ensures uniformly bounded transient response of the quadrotor's uncertain dynamics on the sp...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	arXiv.org 2024-12
Hauptverfasser:	Wu, Zhuohuan, Cheng, Sheng, Zhao, Pan, Gahlawat, Aditya, Ackerman, Kasey A, Lakshmanan, Arun, Yang, Chengyu, Yu, Jiahao, Hovakimyan, Naira
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Disturbances Rotary wing aircraft Safety critical Tracking errors Tubes Uncertainty
Online-Zugang:	Volltext
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!