2026-09-19T20:45:27Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/124398 2024-09-16 col_2142_5131 col_2142_14800 com_2142_5130 com_2142_14799 com_2142_234

Hovakimyan, Naira 2024-05 application/pdf en text Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms The student, Charles Ray, accepted the attached license on 2024-04-24 at 14:58. The student, Charles Ray, submitted this Thesis for approval on 2024-04-24 at 16:09. This Thesis was approved for publication on 2024-04-29 at 15:30. DSpace SAF Submission Ingestion Package generated from Vireo submission #20620 on 2024-09-16 at 00:36:57 L1 Crazyflie: An open-source testbed for robust adaptive control Ray, Charles 2024-04-29 Robust Adaptive Control Quadrotors 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. Text eng https://hdl.handle.net/2142/124398 Copyright 2024 Charles Ray M.S. Thesis Aerospace Engineering University of Illinois at Urbana-Champaign Aerospace Engineering