Collision-resilient quadrotor with collision-compliant propellers and l1quad architecture

A method for controlling a quadrotor equipped with collision-compliant propellers, the method comprising:

• receiving, by a computing system, an output state of the quadrotor, wherein the output state is affected by impacts against the collision-compliant propellers;
• generating, by a geometric control component of the computing system, an output control signal based on position and velocity target values and the output state;
• generating, by an 1 adaptive control component of the computing system, an adaptive signal based on the output state and an input control signal to the quadrotor;
• combining, by a summer, the output control signal with the adaptive signal to generate the input control signal;
• and
• providing the input control signal to the quadrotor to compensate for uncertainties and disturbances.

A non-transitory computer-readable storage medium storing instructions that, when executed by one or more processors of a computing system, cause the computing system to perform operations comprising:

• receiving an output state of a quadrotor equipped with collision-compliant propellers, wherein the output state is affected by impacts against the collision-compliant propellers;
• generating, by a geometric control component, an output control signal based on position and velocity target values and the output state;
• generating, by an 1 adaptive control component, an adaptive signal based on the output state and an input control signal to the quadrotor, wherein the 1 adaptive control component comprises a state predictor, an adaptation law, and a low-pass filter;
• combining the output control signal with the adaptive signal to generate the input control signal;
• and
• providing the input control signal to the quadrotor to compensate for uncertainties and disturbances.