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This paper introduces an <tex>$L$</tex><inf>1</inf>adaptive control aug-mentation for geometric tracking control of quadrotors. In the proposed design, the <tex>$L$</tex> <inf>1</inf> 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 <tex>$L$</tex><inf>1</inf>augmentation applies to both the rotational and the translational dynamics. Experimental results demonstrate that the augmented geomet-ric 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.

L1Adaptive Augmentation for Geometric Tracking Control of Quadrotors