Verification of ℒ 1 Adaptive Control using Verse Library: A Case Study of Quadrotors
Lin Song, Yangge Li, Sheng Cheng, Pan Zhao, Sayan Mitra, Naira Hovakimyan · 2023
ℒ1 adaptive control (ℒ1AC) is a control design technique that can handle a broad class of system uncertainties and provide transient performance guarantees. In this work-in-progress paper, we discuss how existing formal verification tools can be applied to check performance of ℒ1AC systems. We show that the theoretical transient performance and robustness guarantees of an ℒ1AC 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 ℒ1AC on learning-enabled systems.