${\mathcal{L}}_1$Quad: ${\mathcal{L}}_1$ Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees

Zhuohuan Wu, Sheng Cheng, Pan Zhao +6

Quadrotors that can operate predictably in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications. We present L1Quad, a con…