Hexarotor with L1 Adaptive Control flies with loss of one motor

Another successful flight conducted by unmanned-dynamics! This time a hexarotor is augmented with an L1 adaptive controller. The video below shows an outdoor flight with loss of one motor. It can be seen that the L1 adaptive controller compensates for the ‘failure’ and that the hexarotor flies stably and maintains good handling qualities.

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Unsubstantiated and wrong claims about L1 Adaptive Control

Recently, there has been a widely circulated article [1], co-authored by P. Ioannou, K. Narendra, A. Annaswamy, S. Jafari, L. Rudd, R. Ortega, and J. Boskovic, in which the authors express “with one voice” their “growing concern” about the claims on performance and robustness guarantees of L1 adaptive control. In response, we have written…

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