English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper presents a multirotor control architecture, where Model PredictivePath Integral Control (MPPI) and L1 adaptive control are combined to achieveboth fast model predictive trajectory planning and robust trajectory tracking.MPPI provides a framework to solve nonlinear MPC with complex cost functions inreal-time. However, it often lacks robustness, especially when the simulateddynamics are different from the true dynamics. We show that the L1 adaptivecontroller robustifies the architecture, allowing the overall system to behavesimilar to the nominal system simulated with MPPI. The architecture isvalidated in a simulated multirotor racing environment.

L1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors