Adaptive Attitude Control for Foldable Quadrotors

Recent quadrotors have transcended conventional designs, emphasizing more on foldable and reconfigurable bodies. The state of the art still focuses mechanical feasibility such designs with limited discussions tracking performance vehicle during configuration switching. In this letter, we first present a common framework to analyse attitude errors folding quadrotor via theory switched systems. We then employ investigate for two case scenarios - one geometric controller precisely known system dynamics; second, our proposed morphology-aware adaptive that accounts any modeling uncertainties disturbances. Finally, cater desired switching requirements from stability analysis by exploiting trajectory planner obtain superior while Simulation results are presented validate control planning quadrotor’s flight through passageway.