Kasey A. Ackerman
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View article: $\mathcal{L}_1$Quad: $\mathcal{L}_1$ Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees
$\mathcal{L}_1$Quad: $\mathcal{L}_1$ Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees Open
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 …
View article: Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics
Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics Open
This paper presents an approach towards guaranteed trajectory tracking for\nnonlinear control-affine systems subject to external disturbances based on\nrobust control contraction metrics (CCM) that aims to minimize the $\\mathcal\nL_\\inft…
View article: $\mathcal{L}_1$ Adaptive Augmentation for Geometric Tracking Control of Quadrotors
$\mathcal{L}_1$ Adaptive Augmentation for Geometric Tracking Control of Quadrotors Open
This paper introduces an $\mathcal{L}_1$ adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the $\mathcal{L}_1$ augmentation handles nonlinear (time- and state-dependent) uncertainties in th…
View article: Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics
Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics Open
This paper presents an approach towards guaranteed trajectory tracking for nonlinear control-affine systems subject to external disturbances based on robust control contraction metrics (CCM) that aims to minimize the $\mathcal L_\infty$ ga…
View article: L1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors
L1-Adaptive MPPI Architecture for Robust and Agile Control of Multirotors Open
This paper presents a multirotor control architecture, where Model Predictive Path Integral Control (MPPI) and L1 adaptive control are combined to achieve both fast model predictive trajectory planning and robust trajectory tracking. MPPI …
View article: Evolving Relationship between Humans and Machines
Evolving Relationship between Humans and Machines Open
Traditional design typically consists of a master-servant relationship between humans and machines where the human directly controls what the machine will do and when it will do it through an interface. The current archetypical path encomp…
View article: Autonomous Path-Following for a Tilt-Wing, Distributed Electric Propulsion, Vertical Take-Off and Landing Unmanned Aerial System in Hover Mode
Autonomous Path-Following for a Tilt-Wing, Distributed Electric Propulsion, Vertical Take-Off and Landing Unmanned Aerial System in Hover Mode Open
This paper presents an autonomous path-following control architecture for a tilt-wing, distributed electric propulsion, vertical take-off and landing unmanned aerial system in hover mode and presents indoor flight test results. The test-be…