论文标题
L1自适应MPPI体系结构，用于稳健和敏捷的多旋转器
L1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors
论文作者
论文摘要
本文介绍了多局部控制体系结构，其中模型预测路径积分控制（MPPI）和L1自适应控制结合在一起，以实现快速模型预测轨迹计划和强大的轨迹跟踪。 MPPI提供了一个框架来实时求解具有复杂成本功能的非线性MPC。但是，它通常缺乏鲁棒性，尤其是当模拟动态与真实动力学不同时。我们表明，L1自适应控制器可鲁棒化，从而使整个系统的行为与使用MPPI模拟的名义系统相似。该体系结构已在模拟的多电流赛车环境中进行了验证。
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 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 L1 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.
