Geometric Model Free Trajectory Tracking Control on SE(3)

This paper presents a novel geometric controller that enables a quadrotor to track a reference trajectory under windy conditions. Our controller exploits the robustness properties of model-free control on the special Euclidean group. A strict Lyapunov analysis is presented to show the almost globally exponential stability. Our numerical simulations illustrate the effectiveness of our proposed method. We illustrate how our method outperforms a geometric nonlinear PID controller and a geometric neural network based adaptive controller.