These codes are based on the Online Meta-Adaptive Control (OMAC) algorithm proposed in the work "Meta-Adaptive Nonlinear Control: Theory and Algorithms".
Please run pendulum/experiments.ipynb, where we provide several instantiations of OMAC in a nonlinear pendulum model with external wind disturbance, gravity mismatch, and unknown damping. For the 6-DoF drone experiments, please check out quadsim/{example, experiments, exeriments_stats}.ipynb, which demonstrate OMAC running in the position control loop on a quadrotor with an unknown propeller side force. See the following video for the performance of Deep OMAC in quadrotor control with wind disturbance:
OMAC_deep_2x.mp4
Paper link: https://arxiv.org/abs/2106.06098
@article{shi2021meta, title={Meta-Adaptive Nonlinear Control: Theory and Algorithms}, author={Shi, Guanya and Azizzadenesheli, Kamyar and O'Connell, Michael and Chung, Soon-Jo and Yue, Yisong}, journal={Advances in Neural Information Processing Systems}, year={2021}}