L1-MPPI: L1 Adaptive Model Predictive Path Integral for Agile UAV Control

Name: L1-MPPI: L1 Adaptive Model Predictive Path Integral for Agile UAV Control
Uploaded: 2026-10-05T02:53:20.530343+00:00
Duration: 554 s
Description: L1-MPPI combines L1 adaptive control with Model Predictive Path Integral (MPPI) for high-speed UAV trajectory tracking. It addresses model uncertainties and external disturbances, like unknown payloads, by using L1 augmentation to estimate errors. This approach improves accuracy significantly over existing methods by integrating low-level dynamics and testing in real flight.

L1-MPPI combines L1 adaptive control with Model Predictive Path Integral (MPPI) for high-speed UAV trajectory tracking. It addresses model uncertainties and external disturbances, like unknown payloads, by using L1 augmentation to estimate errors. This approach improves accuracy significantly over existing methods by integrating low-level dynamics and testing in real flight.

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