Verification of $L_1$ Adaptive Control using Verse Library: A Case Study of Quadrotors
Song, Lin, Yangge Li, Cheng Sheng, Zhao Pan, Sayan Mitra, Naira Hovakimyan · arXiv (Cornell University) · 2023
$L_1$ 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.