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

no code implementations • 14 Feb 2023 • Zhuohuan Wu, Sheng Cheng, Pan Zhao, Aditya Gahlawat, Kasey A. Ackerman, Arun Lakshmanan, Chengyu Yang, Jiahao Yu, Naira Hovakimyan

Quadrotors that can operate safely in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications.

$\mathcal{L}_1$ Adaptive Augmentation for Geometric Tracking Control of Quadrotors

2 code implementations • 14 Sep 2021 • Zhuohuan Wu, Sheng Cheng, Kasey A. Ackerman, Aditya Gahlawat, Arun Lakshmanan, Pan Zhao, Naira Hovakimyan

This paper introduces an $\mathcal{L}_1$ adaptive control augmentation for geometric tracking control of quadrotors.

Contraction $\mathcal{L}_1$-Adaptive Control using Gaussian Processes

no code implementations • 8 Sep 2020 • Aditya Gahlawat, Arun Lakshmanan, Lin Song, Andrew Patterson, Zhuohuan Wu, Naira Hovakimyan, Evangelos Theodorou

We present $\mathcal{CL}_1$-$\mathcal{GP}$, a control framework that enables safe simultaneous learning and control for systems subject to uncertainties.

Gaussian Processes