Adaptive Attitude Control for Foldable Quadrotors

Karishma Patnaik, Wenlong Zhang

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


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

Original languageEnglish (US)
Pages (from-to)1291-1296
Number of pages6
JournalIEEE Control Systems Letters
StatePublished - 2023


  • Foldable drones
  • adaptive control
  • flexible UAVs

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization


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