多旋翼鲁棒敏捷控制的L1-Adaptive MPPI结构
L1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors
摘要：
提出了一种多旋翼控制结构，将模型预测路径积分控制（MPPI）和L1自适应控制相结合，实现了快速的模型预测轨迹规划和鲁棒轨迹跟踪。MPPI提供了一个框架，以解决非线性预测控制与复杂的代价函数的实时。然而，它往往缺乏鲁棒性，特别是当模拟的动态不同于真实的动态。我们表明，L1自适应控制器鲁棒的架构，使整个系统的行为与MPPI模拟标称系统类似。该架构在模拟多旋翼赛车环境中进行了验证。
英文摘要：
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.
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