L1-MPPI: L1 Adaptive Model Predictive Path Integral for Agile UAV Control

Lukáš Kotek, Ondřej Procházka, Vojtěch Vonásek +2

This work proposes the L1 Adaptive Model Predictive Path Integral (L1-MPPI). It cascades L1 adaptive control with the Model Predictive Path Integral (MPPI) to improve tracking of h…