  This paper presents a multirotor control architecture, where Model Predictive
Path Integral Control (MPPI) and L1 adaptive control are combined to achieve
both fast model predictive trajectory planning and robust trajectory tracking.
MPPI provides a framework to solve nonlinear MPC with complex cost functions in
real-time. However, it often lacks robustness, especially when the simulated
dynamics are different from the true dynamics. We show that the L1 adaptive
controller robustifies the architecture, allowing the overall system to behave
similar to the nominal system simulated with MPPI. The architecture is
validated in a simulated multirotor racing environment.
