Quadrotors that can operate predictably in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications. We present L1Quad, a control architecture that ensures uniformly bounded transient response of the quadrotor's uncertain dynamics on the special Euclidean group SE(3). By leveraging the geometric controller and the L1 adaptive controller, the L1Quad architecture provides a theoretically justified framework for the design and analysis of quadrotor's tracking controller in the presence of nonlinear (time- and state-dependent) uncertainties on both the translational and rotational dynamics. In addition, we validate the performance of the L1Quad architecture through extensive experiments for eleven types of uncertainties across various trajectories. The results demonstrate that the L1Quad can achieve consistently small tracking errors despite the uncertainties and disturbances and significantly outperforms existing state-of-the-art controllers.

翻译：在模型知识不完善和存在外部扰动的情况下仍能可预测运行的无人机，对于安全关键型应用至关重要。本文提出L1Quad控制架构，该架构确保了四旋翼飞行器在特殊欧几里得群SE(3)上的不确定动力学具有一致有界的瞬态响应。通过结合几何控制器与L1自适应控制器，L1Quad架构为设计和分析四旋翼飞行器在平移动力学和旋转动力学均存在非线性（时间与状态相关）不确定性情况下的跟踪控制器，提供了一个理论上有据可依的框架。此外，我们通过针对多种轨迹下的十一类不确定性进行大量实验，验证了L1Quad架构的性能。结果表明，尽管存在不确定性和扰动，L1Quad仍能实现持续较小的跟踪误差，并且显著优于现有的最先进控制器。