L1-MPC combines nominal nonlinear MPC with an L1 adaptive controller to cut tracking error by ~90% versus non-adaptive MPC on a tiltrotor hexacopter in simulation.
Control allocation of a tilting rotor hexacopter
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Adaptive Nonlinear MPC for Trajectory Tracking of An Overactuated Tiltrotor Hexacopter
L1-MPC combines nominal nonlinear MPC with an L1 adaptive controller to cut tracking error by ~90% versus non-adaptive MPC on a tiltrotor hexacopter in simulation.