A geometric adaptive control of quadrotors has been proposed in this paper when the center of gravity of the quadrotor is different from its geometric center. The unique feature of the controller is the use of left tracking error function to simplify controller design. The inertia matrix, mass as well as the center of gravity are assumed to be unknown and coordinate invariant adaptive laws have been derived for the estimate of these mentioned parameters. The coordinate invariant approach is another unique feature of the proposed method as opposed to the literature. Rigorous mathematical proofs have been prescribed to show the stability of the complete closed loop dynamics under the proposed adaptive laws. The controller has been derived under the assumption that the rotational dynamics is faster than the translational dynamics. Numerical simulations have been shown at the end to show the effectiveness of the proposed method.

中文翻译：

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重心与几何中心动态偏移的四旋翼自适应几何控制

当四旋翼飞行器的重心与其几何中心不同时，本文提出了四旋翼飞行器的几何自适应控制。控制器的独特之处在于使用左跟踪误差函数来简化控制器设计。假设惯性矩阵、质量以及重心是未知的，并且已经导出了坐标不变自适应定律来估计这些提到的参数。与文献相反，坐标不变方法是所提出方法的另一个独特特征。已经规定了严格的数学证明，以显示在提出的自适应定律下完整闭环动力学的稳定性。控制器是在旋转动力学比平移动力学更快的假设下推导出来的。