# Geometric Adaptive Tracking Control of a Quadrotor UAV on SE(3) for Agile Maneuvers

arXiv: https://arxiv.org/abs/1411.2986 · HTML: https://mlsanity.com/paper/1411.2986/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Nov 2014.

## Built on by (most cited first, 1 of 1)

- [Adaptive Control of SE(3) Hamiltonian Dynamics with Learned Disturbance Features](https://mlsanity.com/paper/2109.09974/) (2021)

## Abstract (arXiv)

This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude dynamics, a geometric nonlinear adaptive controller is developed directly on the special Euclidean group. In particular, a new form of an adaptive control term is proposed to guarantee stability while compensating the effects of uncertainties in quadrotor dynamics. A rigorous mathematical stability proof is given. The desirable features are illustrated by numerical example and experimental results of aggressive maneuvers.