Is L1 adaptive controller able to compensate for the unmatched uncertainties?

stevemessinger / L1_MPC-HELI

Non-Linear L1-Adaptive Model Predictive Control of a Micro 3D Helicopter

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Is L1 adaptive controller able to compensate for the unmatched uncertainties? #2

Closed WangJintao1998 closed 2 years ago

WangJintao1998 commented 2 years ago

In simulation, I gave the quadrotor a desired pose and generated 4m/s wind disturbances along the y axis. Even though I added the L1 augmentation, there was still a huge error in y position. I wonder if it's my problem or the L1 adaptive controller simply couldn't reject disturbances along x and y axes?

MatthewFehl365 commented 2 years ago

The simulation and whole project in general is still under heavy development so many things aren't working correctly. We will update the ReadMe when a fully functional release is done to reflect the fixes.