关键词：物理；车载模型；控制器；机器人；四旋翼直升机
摘 要：Our main focus here is on demonstrating properties of LBMPC controllers on the quadrotor testbed, with an implementation of LBMPC that runs in real-time on the quadrotor's on-board computer. Robustness to “mis-learning” is one aspect of LBMPC that we demonstrate in an experiment where we deliberately mis-tune a learning algorithm. We also demonstrate the improvement in performance possible when a well-tuned learning algorithm is used, show learning used to update the model in a physically meaningful way, and demonstrate the use of the LBMPC controller in an integrated robotic task requiring speed and precision: we design a controller that enables the quadrotor to catch balls.