{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/124398"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/124398","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"L1 Crazyflie: An open-source testbed for robust adaptive control","abstract":"Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms","abstract_html":"Submission original under an indefinite embargo labeled 'Open Access'. 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The submission was exported from vireo on 2024-09-16 without embargo terms","The student, Charles Ray, accepted the attached license on 2024-04-24 at 14:58.","The student, Charles Ray, submitted this Thesis for approval on 2024-04-24 at 16:09.","This Thesis was approved for publication on 2024-04-29 at 15:30.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20620 on 2024-09-16 at 00:36:57","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."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["L1 Crazyflie: An open-source testbed for robust adaptive control"]}]}],"canonical_facts":{"dc:contributor":["Hovakimyan, Naira"],"dc:creator":["Ray, Charles"],"dc:date":["2024-05","2024-04-29"],"dc:description":["Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms","The student, Charles Ray, accepted the attached license on 2024-04-24 at 14:58.","The student, Charles Ray, submitted this Thesis for approval on 2024-04-24 at 16:09.","This Thesis was approved for publication on 2024-04-29 at 15:30.","DSpace SAF Submission Ingestion Package generated from Vireo submission #20620 on 2024-09-16 at 00:36:57","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."],"dc:format":["application/pdf"],"dc:identifier":["https://hdl.handle.net/2142/124398"],"dc:language":["en","eng"],"dc:rights":["Copyright 2024 Charles Ray"],"dc:subject":["Robust Adaptive Control","Quadrotors"],"dc:title":["L1 Crazyflie: An open-source testbed for robust adaptive control"],"dc:type":["text"],"thesis:degree_discipline":["Aerospace Engineering"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:25:00Z"}