Sandesh Thapa

Sandesh Thapa

Safety-critical control & planning; distributed control, learning, and decision making.

A Comparative Tutorial on Autonomous Quadrotor Trajectory Tracking Control: PID, State-Dependent LQR, Geometric SE(3), and Nonlinear Adaptive Control

Published in In preparation for arXiv, 2026

Recommended citation: Thapa S. "A Comparative Tutorial on Autonomous Quadrotor Trajectory Tracking Control: PID, State-Dependent LQR, Geometric SE(3), and Nonlinear Adaptive Control." In preparation for arXiv.

A comparative tutorial benchmarking PID, state-dependent LQR, geometric SE(3), and nonlinear adaptive controllers for quadrotor trajectory tracking, validated in Flightmare, Gazebo, and ROS.