42 citations · 92 across the 4 of their papers we have counts for
4 papers · 1 filter
Quad: Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees
Zhuohuan Wu, Sheng Cheng, Pan Zhao +6
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 con…
Adaptive Augmentation for Geometric Tracking Control of Quadrotors
Zhuohuan Wu, Sheng Cheng, Kasey A. Ackerman +4
This paper introduces an adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the augmentation handle…
Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics
Pan Zhao, Arun Lakshmanan, Kasey Ackerman +3
This paper presents an approach towards guaranteed trajectory tracking for nonlinear control-affine systems subject to external disturbances based on robust control contraction met…
L1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors
Jintasit Pravitra, Kasey A. Ackerman, Chengyu Cao +2
This paper presents a multirotor control architecture, where Model Predictive Path Integral Control (MPPI) and L1 adaptive control are combined to achieve both fast model predictiv…