# L1 Adaptive Augmentation for Geometric Tracking Control of Quadrotors

arXiv: https://arxiv.org/abs/2109.06998 · HTML: https://mlsanity.com/paper/2109.06998/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Sep 2021.

## Built on by (most cited first, 4 of 4)

- [Online Dynamics Learning for Predictive Control with an Application to Aerial Robots](https://mlsanity.com/paper/2207.09344/) (2022)
- [Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control](https://mlsanity.com/paper/2210.12583/) (2022)
- [Neural Moving Horizon Estimation for Robust Flight Control](https://mlsanity.com/paper/2206.10397/) (2022)
- [Proto-MPC: An Encoder-Prototype-Decoder Approach for Quadrotor Control in Challenging Winds](https://mlsanity.com/paper/2401.15508/) (2024)

## Abstract (arXiv)

This paper introduces an L1 adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the L1 augmentation handles nonlinear (time- and state-dependent) uncertainties in the quadrotor dynamics without assuming or enforcing parametric structures, while the baseline geometric controller achieves stabilization of the known nonlinear model of the system dynamics. The L1 augmentation applies to both the rotational and the translational dynamics. Experimental results demonstrate that the augmented geometric controller shows consistent and (on average five times) smaller trajectory tracking errors compared with the geometric controller alone when tested for different trajectories and under various types of uncertainties/disturbances.