${\mathcal{L}}_1$ Adaptive Augmentation for Geometric Tracking Control of Quadrotors

Zhuohuan Wu, Sheng Cheng, Kasey A. Ackerman +4

This paper introduces an ${\mathcal{L}}_1$ adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the ${\mathcal{L}}_1$ augmentation handle…