Verification of $L_1$ Adaptive Control using Verse Library: A Case Study of Quadrotors
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2023
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| _version_ | 1866913234033836032 |
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| author | Song, Lin Li, Yangge Cheng, Sheng Zhao, Pan Mitra, Sayan Hovakimyan, Naira |
| author_facet | Song, Lin Li, Yangge Cheng, Sheng Zhao, Pan Mitra, Sayan Hovakimyan, Naira |
| contents | $L_1$ adaptive control ($L_1$AC) is a control design technique that can handle a broad class of system uncertainties and provide transient performance guarantees. In this work-in-progress abstract, we discuss how existing formal verification tools can be applied to check the performance of $L_1$AC systems. We show that the theoretical transient performance and robustness guarantees of an $L_1$ adaptive controller for an 18-dimensional quadrotor system can be verified using the recently developed Verse reachability analysis tool. We will further consider the performance verification of $L_1$AC on systems with learning-enabled components. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2303_13819 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Verification of $L_1$ Adaptive Control using Verse Library: A Case Study of Quadrotors Song, Lin Li, Yangge Cheng, Sheng Zhao, Pan Mitra, Sayan Hovakimyan, Naira Systems and Control $L_1$ adaptive control ($L_1$AC) is a control design technique that can handle a broad class of system uncertainties and provide transient performance guarantees. In this work-in-progress abstract, we discuss how existing formal verification tools can be applied to check the performance of $L_1$AC systems. We show that the theoretical transient performance and robustness guarantees of an $L_1$ adaptive controller for an 18-dimensional quadrotor system can be verified using the recently developed Verse reachability analysis tool. We will further consider the performance verification of $L_1$AC on systems with learning-enabled components. |
| title | Verification of $L_1$ Adaptive Control using Verse Library: A Case Study of Quadrotors |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2303.13819 |