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

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Aerospace Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2024

Author dc:creator

• Ray, Charles

Contributors dc:contributor

• Hovakimyan, Naira

• Robust Adaptive Control
• Quadrotors

Statement dc:rights

• Copyright 2024 Charles Ray

Language dc:language

en, eng

Handle dc:identifier

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

OAI record oai:identifier

https://www.ideals.illinois.edu/oai-pmh?verb=GetRecord&metadataPrefix=etdms&identifier=oai%3Awww.ideals.illinois.edu%3A2142%2F124398