University of Illinois Urbana-Champaign

L1 Crazyflie: An open-source testbed for robust adaptive control

Ray, Charles

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https://hdl.handle.net/2142/124398

Description

Title
L1 Crazyflie: An open-source testbed for robust adaptive control
Author(s)
Ray, Charles
Issue Date
2024-04-29
Director of Research (if dissertation) or Advisor (if thesis)
Hovakimyan, Naira
Department of Study
Aerospace Engineering
Discipline
Aerospace Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
  • Robust Adaptive Control
  • Quadrotors
Abstract
This thesis presents an application of the L1 adaptive controller to a Crazyflie. The L1 adaptive controller is characterized by fast adaptation with guaranteed robustness. The control architecture in this thesis uses a nonlinear geometric controller for a quadrotor as a baseline, and an L1 adaptive controller as augmentation. It is implemented on the Crazyflie, a nano- scale quadrotor drone designed as an open-source platform for educational and research work. Implementation is conducted at the firmware level to facilitate seamless integration into existing workflows. Flight test data are presented to verify the implementation and showcase the ability of the L1 adaptive controller to compensate for various uncertainties without any retuning of the controller. The code is provided open-source as a separate add-on module to the base Crazyflie firmware.
Graduation Semester
2024-05
Type of Resource
Thesis
Copyright and License Information
Copyright 2024 Charles Ray

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