Verification of L1 Adaptive Control using Verse Library: A Case Study of Quadrotors
Abstract
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 abstract, we discuss how existing formal verification tools can be applied to check the performance of L1AC systems. We show that the theoretical transient performance and robustness guarantees of an L1 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 L1AC on systems with learning-enabled components.
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